RECONFIGURABLE WHEEL-LEGGED ROBOT
نویسندگان
چکیده
منابع مشابه
Stability Control of an Hybrid Wheel-Legged Robot
For exploration missions with autonomous robotic systems, one of the most important goal of any control system is to ensure the vehicle integrity. In this paper, the control scheme of an hybrid wheel-legged robot is presented. This scheme uses artificial potential field for the on-line stability control of the vehicle. First, the principle of this method is outlined and, then, simulation result...
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Legged robots have superior terrain adaptability comparing to traditional wheeled vehicles. They also offer attractive capabilities in terms of agility and obstacle avoidance. On the other hand, traditional wheeled platforms provide sufficient robustness, mechanical simplicity and energetic performance. They are fast, powerful in terms of load to weight ratio, stable, and easy to control. Hybri...
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In this chapter, we introduce legged robots. After introducing the history of legged robot research in Sect. 16.1, we start to discuss hopping robots and analyze a simple passive walker as a typical cycling walking robot in Sect. 16.2; the Poincaré map is one of the most important tools to analyze its dynamics and stability. In Sect. 16.3, the dynamics and control of general biped robots are di...
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ژورنال
عنوان ژورنال: MM Science Journal
سال: 2020
ISSN: 1803-1269,1805-0476
DOI: 10.17973/mmsj.2020_06_2020027