Abstract
A miniature wheel-track-legged mobile robot to carry out military and civilian missions in both indoor and outdoor environments is presented. Firstly, the mechanical design is discussed, which consists of four wheeled and four independently controlled tracked arms, embedded control system and teleoperation. Then the locomotion modes of the mobile robot and motion analysis are analyzed. The mobile robot can move using wheeled, tracked and legged modes, and it has the characteristics of posture-recovering, high mobility, small size and light weight. Finally, the effectiveness of the developed mobile robot is confirmed by experiments such as posture recovering when tipped over, climbing stairs and traversing the high step.
| Original language | English |
|---|---|
| Pages (from-to) | 24-28 |
| Number of pages | 5 |
| Journal | Chinese Journal of Mechanical Engineering (English Edition) |
| Volume | 20 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - Jun 2007 |
Keywords
- Locomotion modes
- Mobile robot
- Posture recovery
- Stair-climbing