Development of a Wall-Climbing Robot with Biped-Wheel Hybrid Locomotion Mechanism

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	Development of a Wall-Climbing Robot with Biped-Wheel Hybrid Locomotion Mechanism
	Dong WG(董伟光); Wang HG(王洪光); Li ZH(李贞辉); Jiang Y(姜勇); Xiao JZ(肖继忠)
	2013
会议名称	2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
会议日期	November 3-7, 2013
会议地点	Tokyo, Japan
页码	2333-2338
中文摘要	This paper presents a wall-climbing robot for reconnaissance in anti-hijacking application. A novel biped-wheel hybrid locomotion mechanism is proposed, which is composed of a planetary gear train, a vacuum adhesion module and a negative pressure adhesion module. The bipedal, wheeled and hybrid locomotion modes are analyzed respectively. A prototype of the wall-climbing robot with compact size and low power consumption has been developed and a lot of performance tests have been conducted. The experimental results demonstrate that the wall-climbing robot has such characteristics as fast moving speed, excellent surface adaptability and obstacle negotiation capability.
收录类别	EI
产权排序	1
会议录	2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4673-6357-0
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/13836]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	Dong WG,Wang HG,Li ZH,et al. Development of a Wall-Climbing Robot with Biped-Wheel Hybrid Locomotion Mechanism[C]. 见:2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. Tokyo, Japan. November 3-7, 2013.