Parameters of the drive system for a transformable wheel-track robot with self-adaptive mobile mechanism

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Parameters of the drive system for a transformable wheel-track robot with self-adaptive mobile mechanism
	Li ZQ(李智卿); Ma SG(马书根); Li B(李斌); Wang MH(王明辉); Wang YC(王越超)
	2010
会议名称	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
会议日期	December 14-18, 2010
会议地点	Tianjin, China
关键词	Biomimetics Robotics Wheels
页码	339-344
中文摘要	To access to the terrains that may be soft and hard, even and uneven, a novel robot (NEZA-I) with the self-adaptive mobile mechanism has been developed. Its mobile mechanism consists of two symmetric transformable wheel-track (TWT) units. Each TWT unit is driven by only one servo motor, and can efficiently move over rough terrains by changing the locomotion mode or by transforming the track configuration. It has the self-adaptability to the irregular environment. This paper introduces briefly the structure of NEZA-I, and presents the drive system and its self-adaptive principle of the mobile mechanism. The drive ratios of the drive system are estimated. Finally, basic experiments verify the mobility of NEZA-I, and prove the feasibility of the concept of self-adaptive mobile mechanism. Based on the theory of mechanisms, it can provide an idea for the study on the self-adaptive control to the robot.
收录类别	EI
产权排序	1
会议主办者	IEEE Robotics and Automation Society; Hebei University of Technology; Tianjin University of Technology; Tianjin Association for Science and Technology
会议录	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, NJ
语种	英语
ISBN号	978-1-4244-9317-3
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8822]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Li ZQ,Ma SG,Li B,et al. Parameters of the drive system for a transformable wheel-track robot with self-adaptive mobile mechanism[C]. 见:2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010. Tianjin, China. December 14-18, 2010.