TY - GEN
T1 - Kinematic modeling of a small mobile robot with multi-locomotion modes
AU - Duan, Xingguang
AU - Huang, Qiang
AU - Rahman, Nasir
AU - Li, Jingtao
AU - Du, Qinjun
PY - 2006
Y1 - 2006
N2 - The paper describes the kinematic modeling of a small wheel-track-legged mobile robot MOBIT which is targeted to applications in various hazardous environments to carry out military and civilian missions. The kinematic modeling for MOBIT has some individuality because of its multi-locomotion modes named wheeled, tracked, legged mode and obstacle negotiating mode. Different kinematics equations are derived based on its multi-locomotion modes respectively, and their features of kinematics in different modes are revealed. Particularly, the kinematic description of differential driven in wheeled mode, characteristics of slippage in tracked mode and posture definition in legged mode are presented mathematically. Unlike other robot operating on a flat surface, the proposed equations are solved to obtain the robot position and posture which can be used for autonomous motion control of robot operating in rough terrains.
AB - The paper describes the kinematic modeling of a small wheel-track-legged mobile robot MOBIT which is targeted to applications in various hazardous environments to carry out military and civilian missions. The kinematic modeling for MOBIT has some individuality because of its multi-locomotion modes named wheeled, tracked, legged mode and obstacle negotiating mode. Different kinematics equations are derived based on its multi-locomotion modes respectively, and their features of kinematics in different modes are revealed. Particularly, the kinematic description of differential driven in wheeled mode, characteristics of slippage in tracked mode and posture definition in legged mode are presented mathematically. Unlike other robot operating on a flat surface, the proposed equations are solved to obtain the robot position and posture which can be used for autonomous motion control of robot operating in rough terrains.
KW - Kinematic
KW - Mobile robot
KW - Multi-locomotion modes
UR - http://www.scopus.com/inward/record.url?scp=34250615572&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.282276
DO - 10.1109/IROS.2006.282276
M3 - Conference contribution
AN - SCOPUS:34250615572
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5582
EP - 5587
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -