TY - GEN
T1 - Modeling and control 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 - In this paper we describes the kinematic and dynamic control 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 models for MOBIT has some individuality because of its multi-locomotion modes named wheeled, tracked, legged mode. Different kinematics and dynamic control equations are derived based on its multi-locomotion modes respectively, and their features in different modes are revealed. Particularly, the modeling description of differential driven in wheeled mode, characteristics of slippage in tracked mode and posture definition in legged mode are presented mathematically. By using the Routh method, the dynamic control model is established. Unlike other robot operating on a flat surface, the proposed equations are solved to obtain the robot position, posture and its dynamic characteristics that can be used for autonomous motion control of robot operating with different locomotion modes in rough terrains.
AB - In this paper we describes the kinematic and dynamic control 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 models for MOBIT has some individuality because of its multi-locomotion modes named wheeled, tracked, legged mode. Different kinematics and dynamic control equations are derived based on its multi-locomotion modes respectively, and their features in different modes are revealed. Particularly, the modeling description of differential driven in wheeled mode, characteristics of slippage in tracked mode and posture definition in legged mode are presented mathematically. By using the Routh method, the dynamic control model is established. Unlike other robot operating on a flat surface, the proposed equations are solved to obtain the robot position, posture and its dynamic characteristics that can be used for autonomous motion control of robot operating with different locomotion modes in rough terrains.
KW - Dynamic control
KW - Kinematic
KW - Mobile robot
KW - Multi-locomotion modes
UR - https://www.scopus.com/pages/publications/34547537343
U2 - 10.1109/ISDA.2006.253903
DO - 10.1109/ISDA.2006.253903
M3 - Conference contribution
AN - SCOPUS:34547537343
SN - 0769525288
SN - 9780769525280
T3 - Proceedings - ISDA 2006: Sixth International Conference on Intelligent Systems Design and Applications
SP - 592
EP - 597
BT - Proceedings - ISDA 2006
T2 - ISDA 2006: Sixth International Conference on Intelligent Systems Design and Applications
Y2 - 16 October 2006 through 18 October 2006
ER -