Development of a Wall-Climbing Robot with Biped-Wheel Hybrid Locomotion Mechanism | |
Dong WG(董伟光); Wang HG(王洪光)![]() ![]() ![]() | |
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 |
会议录名称 | 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems |
出版者 | IEEE |
出版地 | NEW YORK |
2013 | |
页码 | 2333-2338 |
收录类别 | EI |
EI收录号 | 20150900570187 |
产权排序 | 1 |
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. |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.sia.cn/handle/173321/13836 |
专题 | 空间自动化技术研究室 |
推荐引用方式 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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Development of a Wal(536KB) | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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