Development of a Wall-Climbing Robot with Biped-Wheel Hybrid Locomotion Mechanism

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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)
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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