Abstract
This paper presents a wheel-legged robot that can move by wheel and jump by leg. Since the center of gravity is designed below the wheel axis, this robot can keep balance rely on its own mechanical structure. The key part for hopping of this robot is the gear system and torsional spring. The detailed process and principle of the hopping motion is introduced in this paper. The implementation of the hopping and how the parameter of the chosen torsional spring influenced the height that the robot can reach is simulated in Adams software.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of 2019 Chinese Intelligent Systems Conference - Volume III |
| Editors | Yingmin Jia, Junping Du, Weicun Zhang |
| Publisher | Springer Verlag |
| Pages | 503-510 |
| Number of pages | 8 |
| ISBN (Print) | 9789813296978 |
| DOIs | |
| Publication status | Published - 2020 |
| Event | Chinese Intelligent Systems Conference, CISC 2019 - Haikou, China Duration: 26 Oct 2019 → 27 Oct 2019 |
Publication series
| Name | Lecture Notes in Electrical Engineering |
|---|---|
| Volume | 594 |
| ISSN (Print) | 1876-1100 |
| ISSN (Electronic) | 1876-1119 |
Conference
| Conference | Chinese Intelligent Systems Conference, CISC 2019 |
|---|---|
| Country/Territory | China |
| City | Haikou |
| Period | 26/10/19 → 27/10/19 |
Keywords
- Gear system
- Hopping
- Simulation
- Wheel-legged robot
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Zhang, L., Guo, Q., & Ren, X. (2020). Design and Simulation of a Self-balanced and Wheel-Legged Robot. In Y. Jia, J. Du, & W. Zhang (Eds.), Proceedings of 2019 Chinese Intelligent Systems Conference - Volume III (pp. 503-510). (Lecture Notes in Electrical Engineering; Vol. 594). Springer Verlag. https://doi.org/10.1007/978-981-32-9698-5_56