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题名: Development of a Wall-Climbing Robot with Biped-Wheel Hybrid Locomotion Mechanism
作者: Dong WG(董伟光) ; Wang HG(王洪光) ; Li ZH(李贞辉) ; Jiang Y(姜勇) ; Xiao JZ(肖继忠)
作者部门: 空间自动化技术研究室
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
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
出版日期: 2013
页码: 2333-2338
收录类别: EI
ISBN号: 978-1-4673-6357-0
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.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/13836
Appears in Collections:空间自动化技术研究室_会议论文

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