| 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 Name | 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Conference Date | November 3-7, 2013 |
| Conference Place | Tokyo, Japan |
| Source Publication | 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Publisher | IEEE |
| Publication Place | NEW YORK |
| 2013 | |
| Pages | 2333-2338 |
| Indexed By | EI |
| EI Accession number | 20150900570187 |
| Contribution Rank | 1 |
| ISBN | 978-1-4673-6357-0 |
| Abstract | 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. |
| Language | 英语 |
| Document Type | 会议论文 |
| Identifier | http://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. |
| Files in This Item: | Download All | |||||
| File Name/Size | DocType | Version | Access | License | ||
| Development of a Wal（536KB） | 开放获取 | CC BY-NC-SA | View Download | |||
Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.
Edit Comment