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	A novel design of Tri-star wheeled mobile robot for high obstacle climbing
	Yong Yang; Huihuan Qian; Xinyu Wu; Guiyun Xu; Yangsheng Xu
	2012
会议名称	25th IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS)
会议地点	葡萄牙
英文摘要	This paper proposed a novel Tri-star wheeled robot called “Tribot”, which targets on high obstacle performance in unstructured environments, especially at the performance for climbing vertical obstacles. Tribot equips with six Tri-star wheels and each wheel can be driven independently. The chassis of the Tribot is divided into two parts which are connected by an articulated mechanism, making the Tribot has a remarkable obstacle performance to adapt changing environments mechanically, without any interpolate complex control. Numerous experiments have been conducted for vertical obstacle performance tests. Although the diameter of the wheel of the Tribot is only 220 mm, the robot can climb over vertical obstacle of 450 mm high, twice more of the wheel diameter. All results show that Tribot has excellent vertical climbing performance in unstructured environments.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/3913]
专题	深圳先进技术研究院_集成所
作者单位	2012
推荐引用方式 GB/T 7714	Yong Yang,Huihuan Qian,Xinyu Wu,et al. A novel design of Tri-star wheeled mobile robot for high obstacle climbing[C]. 见:25th IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS). 葡萄牙.

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