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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)
Department空间自动化技术研究室
Conference Name2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Conference DateNovember 3-7, 2013
Conference PlaceTokyo, Japan
Source Publication2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherIEEE
Publication PlaceNEW YORK
2013
Pages2333-2338
Indexed ByEI
EI Accession number20150900570187
Contribution Rank1
ISBN978-1-4673-6357-0
AbstractThis 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/13836
Collection空间自动化技术研究室
Recommended Citation
GB/T 7714
Dong WG,Wang HG,Li ZH,et al. Development of a Wall-Climbing Robot with Biped-Wheel Hybrid Locomotion Mechanism[C]. NEW YORK:IEEE,2013:2333-2338.
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