Locomotion Development on the Leg-wheel Hybrid Robot
Date Issued
2011
Date
2011
Author(s)
Chen, Shen-Chiang
Abstract
This paper continues the previous research of leg-wheel hybrid robot, Quattroped. We improve and modify the mechanical and electrical defects of the robot and carry on the design of the platform to develop different move locomotion. The wheel mode is constructed to let the robot move on flat ground efficiently. And The algorithm of trajectory planning and four leg coordination for quasi-static stair climbing in a quadruped robot is also reported. The development is based on the geometrical interactions by using the half-wheel legs of robot to overcome the rough terrains including step and bar crossing, irregular terrain passing, and stair climbing and to reveal the robot in legged mode has better mobility than wheel mode to cross obstacles or rough terrain. Finally, a basic feedback control on leg mode by simple sensor is also presented in this paper. Using simple information and low cost in order to achieve automation and intelligence capacity and to increase the success rate of experiments and practical value.
Subjects
hybrid
quadruped
mobile
feedback
Type
thesis
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