TY - GEN
T1 - Kinematic modelling of a HWLV with legged mode
AU - Duan, Xingguang
AU - Zhao, Honghua
AU - Yang, Ge
PY - 2010
Y1 - 2010
N2 - Aiming at the moving requests of the miniature mobile robot under the environment of indoors and outdoors, a miniature track-wheel-legged mobile robot with multiple locomotion modes such as wheeled, tracked and legged locomotion was designed. Kinematic modelling is described and kinematic equations are derived based on its most important mode, legged mode, which can supply a theoretic base of coupled posture control of stability and traction optimization of HWLV mobile robot, building the coupled optimization criteria, and realizing the coupled optimization with the posture control.
AB - Aiming at the moving requests of the miniature mobile robot under the environment of indoors and outdoors, a miniature track-wheel-legged mobile robot with multiple locomotion modes such as wheeled, tracked and legged locomotion was designed. Kinematic modelling is described and kinematic equations are derived based on its most important mode, legged mode, which can supply a theoretic base of coupled posture control of stability and traction optimization of HWLV mobile robot, building the coupled optimization criteria, and realizing the coupled optimization with the posture control.
KW - Kinematic modelling
KW - Mobile robot
KW - Multi-locomotion modes
UR - http://www.scopus.com/inward/record.url?scp=77958149075&partnerID=8YFLogxK
U2 - 10.1109/WCICA.2010.5554400
DO - 10.1109/WCICA.2010.5554400
M3 - Conference contribution
AN - SCOPUS:77958149075
SN - 9781424467129
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 6545
EP - 6549
BT - 2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
T2 - 2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
Y2 - 7 July 2010 through 9 July 2010
ER -