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题名: Parameters of the drive system for a transformable wheel-track robot with self-adaptive mobile mechanism
作者: Li ZQ(李智卿) ; Ma SG(马书根) ; Li B(李斌) ; Wang MH(王明辉) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
会议日期: December 14-18, 2010
会议地点: Tianjin, China
会议主办者: IEEE Robotics and Automation Society; Hebei University of Technology; Tianjin University of Technology; Tianjin Association for Science and Technology
会议录: 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
会议录出版者: IEEE Computer Society
会议录出版地: Piscataway, NJ
出版日期: 2010
页码: 339-344
收录类别: EI
ISBN号: 9781424493173
关键词: Biomimetics ; Robotics ; Wheels
摘要: To access to the terrains that may be soft and hard, even and uneven, a novel robot (NEZA-I) with the self-adaptive mobile mechanism has been developed. Its mobile mechanism consists of two symmetric transformable wheel-track (TWT) units. Each TWT unit is driven by only one servo motor, and can efficiently move over rough terrains by changing the locomotion mode or by transforming the track configuration. It has the self-adaptability to the irregular environment. This paper introduces briefly the structure of NEZA-I, and presents the drive system and its self-adaptive principle of the mobile mechanism. The drive ratios of the drive system are estimated. Finally, basic experiments verify the mobility of NEZA-I, and prove the feasibility of the concept of self-adaptive mobile mechanism. Based on the theory of mechanisms, it can provide an idea for the study on the self-adaptive control to the robot.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8822
Appears in Collections:机器人学研究室_会议论文

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