TY - GEN
T1 - Kinematics and dynamics modeling of a small mobile robot with tracked locomotion mode
AU - Zhao, Hong Hua
AU - Duan, Xing Guang
AU - Yang, Ge
PY - 2010
Y1 - 2010
N2 - In this work, we developed a new mobile robotic platform named MOBIT (Mobile Robot of BIT) that combines wheels, legs and tracks to move with different locomotion modes in unstructured environment. Utilizing its independent actuated arms up and down, many desired locomotion modes can be realized, which makes the robot good adaptability and high capability of obstacle negotiation for carrying out military and civilian missions. In this paper, introduced simply its body design and different locomotion modes..particularly, kinematics and dynamics modeling of MOBIT with tracked mode are derived. Unlike other robot operating on a flat surface, the proposed equations can supply a theoretic base of farther study for MOBIT such as coupled posture control of stability and traction optimization which can be used for autonomous motion control of robot operating in rough terrains.
AB - In this work, we developed a new mobile robotic platform named MOBIT (Mobile Robot of BIT) that combines wheels, legs and tracks to move with different locomotion modes in unstructured environment. Utilizing its independent actuated arms up and down, many desired locomotion modes can be realized, which makes the robot good adaptability and high capability of obstacle negotiation for carrying out military and civilian missions. In this paper, introduced simply its body design and different locomotion modes..particularly, kinematics and dynamics modeling of MOBIT with tracked mode are derived. Unlike other robot operating on a flat surface, the proposed equations can supply a theoretic base of farther study for MOBIT such as coupled posture control of stability and traction optimization which can be used for autonomous motion control of robot operating in rough terrains.
UR - http://www.scopus.com/inward/record.url?scp=79952911837&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2010.5723512
DO - 10.1109/ROBIO.2010.5723512
M3 - Conference contribution
AN - SCOPUS:79952911837
SN - 9781424493173
T3 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
SP - 1276
EP - 1280
BT - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
T2 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Y2 - 14 December 2010 through 18 December 2010
ER -