Abstract A wheel foot integration hexapod robot is designed as a hexapod robot with two parts through learning from structure and design of insects. As a result, it can be able to achieve more acts including raising head and turning head, and have more adaptations to rugged surface. Also, its front part is mounted with a camera with two DOF, which can easily get screen information from all angles. Moreover, we design the wheel-foot integration moving system, which is achieved by the screws that connect the eccentric wheels to the body. When faced with rugged surfaces, the screw will lift up the wheels and increase the eccentric distance, which make it easier for our robot to move in complex environment. On the contrary, the screw will lower the robot body and let the robot run more smoothly and faster on flat surface. As for turning, we use the Matlab to control the robot in V-rep and achieve the accurate quarter turn. In the final test of our robot model on V-rep, it can climb obstacles 20% higher than itself and show good flexibility in variable environment. Figure.1 Figure.2


    Access

    Download


    Export, share and cite



    Title :

    A wheel foot integration hexapod robot aiming for people search and rescue


    Contributors:
    CHENG LIN (author) / LU ZEYI (author) / MA RUICHEN (author) / ZHENG HONGZHI (author) / ZHENG YISONG (author)

    Publication date :

    2019-10-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES



    Wheel-foot-arm composite hexapod robot

    QI CHENKUN / JIA JUNKAI / LI HUAYANG et al. | European Patent Office | 2021

    Free access

    Wheel-foot hybrid mode hexapod robot moving platform

    XU WENFU / CHANG QINGKAI / WANG HAOMIAO | European Patent Office | 2015

    Free access

    Wheel-legged integrated hexapod robot

    XIE CAOYU / CHEN ZHEWEN / LI XIAOJIAN et al. | European Patent Office | 2020

    Free access

    A search-and-rescue hexapod robot with a tele-operable mechanical arm

    HAN PEIJIN / WU HONGKAI / YANG YUHAN et al. | European Patent Office | 2019

    Free access

    Four-foot gait walking method of hexapod robot

    WANG BENLIN / MA ZHAO / ZHAO XIAOMIN et al. | European Patent Office | 2023

    Free access