TY - GEN
T1 - QuWheeleg
T2 - 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022
AU - He, Yiming
AU - Sun, Chao
AU - Quan, Xiaolong
AU - Jin, Yanzhou
AU - Wang, Ruochao
AU - Shi, Qing
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper presents a quadruped wheeled-leg mobile robot. On the basis of the planar four-bar mechanism, an active deformable wheel mechanism is designed, then optimize the deformation ratio based on genetic algorithm. We use an electromagnetic clutch for motion mode switching, which ensures the stability and reliability of robot mode switching without adding extra drive. Furthermore, we propose the electromagnetic clutch high-frequency pulse control method to ensure the continuity of the leg-form motion state. The results obtained through a series of simulations and experimental tests reveal that QuWheeleg has effective barrier crossing performance (150% BL) and high load capacity (2kg), which combines the advantages of wheel and leg motion.
AB - This paper presents a quadruped wheeled-leg mobile robot. On the basis of the planar four-bar mechanism, an active deformable wheel mechanism is designed, then optimize the deformation ratio based on genetic algorithm. We use an electromagnetic clutch for motion mode switching, which ensures the stability and reliability of robot mode switching without adding extra drive. Furthermore, we propose the electromagnetic clutch high-frequency pulse control method to ensure the continuity of the leg-form motion state. The results obtained through a series of simulations and experimental tests reveal that QuWheeleg has effective barrier crossing performance (150% BL) and high load capacity (2kg), which combines the advantages of wheel and leg motion.
UR - http://www.scopus.com/inward/record.url?scp=85159775307&partnerID=8YFLogxK
U2 - 10.1109/CBS55922.2023.10115391
DO - 10.1109/CBS55922.2023.10115391
M3 - Conference contribution
AN - SCOPUS:85159775307
T3 - 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022
SP - 208
EP - 215
BT - 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 24 March 2023 through 26 March 2023
ER -