TY - GEN
T1 - Hybrid obstacle-surmounting gait for hexapod wheel-legged robot in special terrain
AU - Wang, Ruoxing
AU - Chen, Zhihua
AU - Xu, Kang
AU - Wang, Shoukun
AU - Wang, Junzheng
AU - Li, Bin
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/3
Y1 - 2021/7/3
N2 - The stable operation with passing obstacles is the main challenge for wheel-legged robots in irregular terrains, especially in the gully terrain. An obstacle-surmounting method of wheel-legged hybrid gait based on perception system is proposed in this paper for gully terrain. Firstly, the system composition and communication mode of the wheel-legged robot are described. Secondly, the kinematics and dynamics models are established, and on this basis, the strategy of wheel-legged compound gait crossing gully landform is designed. Finally, the co-simulation based on MATLAB and V-REP is carried out. The simulation results show that the body of robot can maintain horizontal stability in the process of crossing gully terrain, which verifies the effectiveness of the obstacle-surmounting strategy.
AB - The stable operation with passing obstacles is the main challenge for wheel-legged robots in irregular terrains, especially in the gully terrain. An obstacle-surmounting method of wheel-legged hybrid gait based on perception system is proposed in this paper for gully terrain. Firstly, the system composition and communication mode of the wheel-legged robot are described. Secondly, the kinematics and dynamics models are established, and on this basis, the strategy of wheel-legged compound gait crossing gully landform is designed. Finally, the co-simulation based on MATLAB and V-REP is carried out. The simulation results show that the body of robot can maintain horizontal stability in the process of crossing gully terrain, which verifies the effectiveness of the obstacle-surmounting strategy.
UR - http://www.scopus.com/inward/record.url?scp=85116227246&partnerID=8YFLogxK
U2 - 10.1109/ICARM52023.2021.9536128
DO - 10.1109/ICARM52023.2021.9536128
M3 - Conference contribution
AN - SCOPUS:85116227246
T3 - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
SP - 651
EP - 656
BT - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
Y2 - 3 July 2021 through 5 July 2021
ER -