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题名: Study on turn motion of Child rovers of a Reconfigurable Planetary Rover System
作者: He XY(贺鑫元) ; Ma SG(马书根) ; Li B(李斌) ; Wang YC(王越超) ; Wang MH(王明辉) ; Hirose, S ; Kawakami, A ; Motomura, K
作者部门: 机器人学研究室
会议名称: IEEE/RSJ International Conference on Intelligent Robots and Systems
会议日期: August 2-6, 2005
会议地点: Edmonton, CANADA
会议主办者: IEEE, Robot Soc Japan
会议录: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2005
页码: 1407-1412
收录类别: CPCI(ISTP) ; EI
ISBN号: 0-7803-8912-3
关键词: reconfigurable planetary robot system ; motion planning ; turn motion
摘要: A Reconfigurable Planetary Rovor System (RPRS) is presented, including the Parent body and some Child robots. The Child robot composed with the arm part and the wheel part has two moving modes: locomotion mode and manipulation mode. According to the mechanical characteristics, we proposed the two methods for the motion planning of swerving locomotion. The results of experiments showed that the robot can achieve turn during locomotion by adjusting the arm's altitude. But the Child robot's radius of left-hand turning motion during locomotion is bigger much than the radius of right-hand turning motion during locomotion and the effect is no obvious. The method of spot turning is presented by use of the difference between radial frictional force and tangential frictional force of ground and direction wheel, which is important for robot to autonomous locomotion.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8895
Appears in Collections:机器人学研究室_会议论文

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