Aiming at the moving requests of the miniature mobile vehicle under the environment of indoors and outdoors, A small track-wheel-legged mobile vehicle was developed in this paper. Many desired locomotion modes such as wheeled, tracked and legged locomotion can be realized by utilizing its independently actuated arms up and down. In order to have good adaptability, high maneuverability of obstacle negotiation and high locomotion security, the kinematic modelling was described, kinematic equations were derived, and optimization control was realized based on the analysis of the stability characteristics with wheel-legged locomotion, which can realize the posture control of mobile vehicle, so that the vehicle has the abilities of maintaining relatively stability of the body over uneven ground,. and these abilities are of great significance to stable operation and vision control of the vehicle.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Posture Control of a Reconfigurable Mobile Vehicle with Legged Mode



    Erschienen in:

    Applied Mechanics and Materials ; 541-542 ; 1049-1052


    Erscheinungsdatum :

    2014-03-12


    Format / Umfang :

    4 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Wheel-legged mobile platform, operation mode switching method and wheel-legged robot

    ZHANG XINLIANG / ZHOU GUYUE | Europäisches Patentamt | 2022

    Freier Zugriff


    LEGGED MOBILE ROBOT AND CONTROL METHOD THEREOF, LEG STRUCTURE OF LEGGED MOBILE ROBOT, AND MOBILE LEG UNIT FOR LEGGED MOBILE ROBOT

    YAMAGUCHI JINICHI / MORI NAOTO / HATTORI YUICHI | Europäisches Patentamt | 2016

    Freier Zugriff

    FOOT STRUCTURE OF LEGGED MOBILE ROBOT, AND LEGGED MOBILE ROBOT

    OBANA KOICHI / KODA YUTA | Europäisches Patentamt | 2022

    Freier Zugriff

    Control device for legged mobile robot

    KANEKO HIROYUKI / KUROSU CHIHIRO | Europäisches Patentamt | 2016

    Freier Zugriff