TY - GEN
T1 - MOBIT, A small wheel -track- leg mobile robot
AU - Xingguang, Duan
AU - Qiang, Huang
AU - Rahman, Nasir
AU - Junchen, Li
AU - Jingtao, Li
PY - 2006
Y1 - 2006
N2 - MOBIT is a small mobile robotic platform that combines wheels, legs and tracks to move with different locomotion modes in both indoor and outdoor environments. 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. To validate the concept, the first prototype developed measures 70 cm×60 cm with the articulations up and has a body clearance of 7.8 cm to 37.8 cm depending on the position of the articulations. To control the different components of the robot, the embedded control system Is used and the tele-operation makes the robot work practice. The effectiveness of the developed mobile robot Is confirmed by experiments such as climbing stairs, traversing steps and posture recovering when tipped over.
AB - MOBIT is a small mobile robotic platform that combines wheels, legs and tracks to move with different locomotion modes in both indoor and outdoor environments. 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. To validate the concept, the first prototype developed measures 70 cm×60 cm with the articulations up and has a body clearance of 7.8 cm to 37.8 cm depending on the position of the articulations. To control the different components of the robot, the embedded control system Is used and the tele-operation makes the robot work practice. The effectiveness of the developed mobile robot Is confirmed by experiments such as climbing stairs, traversing steps and posture recovering when tipped over.
KW - Locomotion modes
KW - Mobile robot
KW - Negotiating capability
KW - Posture recovery
KW - Stair-climbing
UR - http://www.scopus.com/inward/record.url?scp=34047215261&partnerID=8YFLogxK
U2 - 10.1109/WCICA.2006.1713772
DO - 10.1109/WCICA.2006.1713772
M3 - Conference contribution
AN - SCOPUS:34047215261
SN - 1424403324
SN - 9781424403325
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 9159
EP - 9163
BT - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
T2 - 6th World Congress on Intelligent Control and Automation, WCICA 2006
Y2 - 21 June 2006 through 23 June 2006
ER -
