TY - GEN
T1 - Development of a dual-mode mobile robot system for practical applications
AU - Li, Chaoquan
AU - Dai, Fuquan
AU - Li, Fangxing
AU - Wang, Shusan
AU - Gao, Xueshan
AU - Li, Kejie
PY - 2011
Y1 - 2011
N2 - This paper addresses a Coaxial Couple Wheeled Robot platform with a dual-mode for practical applications both as a personal transporter and a robot patrolman. This CCWR has two modes: the patrol mode as CCWR-P and the transporter mode as CCWR-T. In order to achieve fast switching between the two modes, modular design approach is adopted, and mechanism as well as the designed controller are developed and demonstrated. The system is divided into four separate parts, and independent functional modules can be quickly assembled for different target applications. Integration hardware is focused here, as well as the implementation of the controllers. For the robot control, a compact states feedback controller is proposed in this paper, and then the robot can track the desired inputs. Finally, the running experiments indoor and outdoor proved that the robot platform can move smoothly with the two modes and furthermore the robot can execute the tasks of transporting and patrol.
AB - This paper addresses a Coaxial Couple Wheeled Robot platform with a dual-mode for practical applications both as a personal transporter and a robot patrolman. This CCWR has two modes: the patrol mode as CCWR-P and the transporter mode as CCWR-T. In order to achieve fast switching between the two modes, modular design approach is adopted, and mechanism as well as the designed controller are developed and demonstrated. The system is divided into four separate parts, and independent functional modules can be quickly assembled for different target applications. Integration hardware is focused here, as well as the implementation of the controllers. For the robot control, a compact states feedback controller is proposed in this paper, and then the robot can track the desired inputs. Finally, the running experiments indoor and outdoor proved that the robot platform can move smoothly with the two modes and furthermore the robot can execute the tasks of transporting and patrol.
KW - Applications
KW - Dual-mode
KW - Practical
KW - Robot platform
UR - http://www.scopus.com/inward/record.url?scp=81055147566&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2011.5985969
DO - 10.1109/ICMA.2011.5985969
M3 - Conference contribution
AN - SCOPUS:81055147566
SN - 9781424481149
T3 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
SP - 1485
EP - 1490
BT - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
T2 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Y2 - 7 August 2011 through 10 August 2011
ER -