TY - GEN
T1 - The Wheel-legged Robot for Guanular Terrain
T2 - 28th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2022
AU - Ma, Jiahao
AU - Zhu, Mingzhu
AU - Zhang, Teng
AU - Yue, Xiaokui
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Wheeled robots have been wildly used in challenging terrain exploration due to their stability, simplicity, and flexibility. In this paper, a novel wheel-legged series robot is designed to achieve autonomous locomotion in various fields. The four-wheel-legged robot, Guardian, is implemented with a unique mechanical structure to ensure the ability of moving in granular terrain. It has four legs which are designed by connecting rods, and each leg has four degrees of freedom. Experiments are carried out to evaluate performance of the robot in various scenarios, including planar omni-directional motion, climbing over obstacles, and moving in granular media. By measuring traction force of the robot with different gait, the superiority of the robot in granular media movement has been showed.
AB - Wheeled robots have been wildly used in challenging terrain exploration due to their stability, simplicity, and flexibility. In this paper, a novel wheel-legged series robot is designed to achieve autonomous locomotion in various fields. The four-wheel-legged robot, Guardian, is implemented with a unique mechanical structure to ensure the ability of moving in granular terrain. It has four legs which are designed by connecting rods, and each leg has four degrees of freedom. Experiments are carried out to evaluate performance of the robot in various scenarios, including planar omni-directional motion, climbing over obstacles, and moving in granular media. By measuring traction force of the robot with different gait, the superiority of the robot in granular media movement has been showed.
KW - granular terrain
KW - obstacle-climbing
KW - robotics design
KW - wheel-legged robot
UR - http://www.scopus.com/inward/record.url?scp=85149742007&partnerID=8YFLogxK
U2 - 10.1109/M2VIP55626.2022.10041044
DO - 10.1109/M2VIP55626.2022.10041044
M3 - 会议稿件
AN - SCOPUS:85149742007
T3 - 2022 28th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2022
BT - 2022 28th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2022
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 16 November 2022 through 18 November 2022
ER -