@inproceedings{5a1444e79e2a488aafb9f3dc2ac5550f,
title = "Study on Mechanism Design and Posture Control of a Wheel-Legged Vehicle",
abstract = "This paper introduces a new electric wheel-legged vehicle, which aims to improve the ability of unmanned mobile platform to perform multiple tasks in complex environment. The vehicle has the characteristics of both the leg-based system and wheel-based system, which has good obstacle crossing and fast-moving ability simultaneously. The structure form and function mode of the wheel-legged vehicle is designed. In order to analyze the overall motion of the vehicle, the kinematic model is established. The forward and inverse kinematics is calculated and the angle functions of each joint of the legs are presented. A set of posture control algorithm based on attitude analysis and inverse kinematics is designed for the vehicle, which is used to simulate the vehicle's height, roll and pitch motion. The simulation results preliminarily verify the rationality of mechanism design and the effectiveness of posture control.",
keywords = "Kinematic analysis, Mechanism design, Posture control, Wheel-legged vehicle",
author = "Xiaolei Ren and Hui Liu and Jiaoyang Xia and Weihe Hao and Qingyi Shang and Qian Chen",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.; International Conference on Mechanical Design, ICMD 2023 ; Conference date: 20-10-2023 Through 22-10-2023",
year = "2024",
doi = "10.1007/978-981-97-0922-9\_132",
language = "English",
isbn = "9789819709212",
series = "Mechanisms and Machine Science",
publisher = "Springer Science and Business Media B.V.",
pages = "2085--2098",
editor = "Jianrong Tan and Yu Liu and Hong-Zhong Huang and Jingjun Yu and Zequn Wang",
booktitle = "Advances in Mechanical Design - The Proceedings of the 2023 International Conference on Mechanical Design, ICMD 2023",
address = "Germany",
}