• Kinematic Analysis and Modeling of a Small Mobile Vehicle with Legged Locomotion Mode   [MASS 2012]
  • Author(s)
  • Jianying Tian, Honghua Zhao
  • Aiming at the moving requests of the miniature mo- bile 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 independ- ently actuated arms up and down. In order to have good adapta- bility, high maneuverability of obstacle negotiation and high lo- comotion security, the kinematic modeling was described, kine- matic equations were derived, and optimization control was real- ized 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.
  • Mobile vehicle, Stability, Posture Control, Legged mode
  • References
  • [1]
    Ji-Chul Ryu Sunil K. Agrawal, Planning and control of under- actuated mobile manipulators using differential flatness, Auton Robot (2010) 29: 35–52.
    Woosub Lee, Sungchul Kang, Munsang Kim, ROBHAZDT3: Teleoperated Mobile Platform with Passively Adaptive Double- Track Hazardous Environment Applications, In Proc. Of IROS 2004, pp.33-38.
    C. H. Lee, S. H. Kim, S. C. Kang, Double track mobile vehicle for hazardous environment applications, The International Journal of the Vehicleics Society of Japan Advanced Vehicleics, 17(2003) 447-459.
    Huang qiang, Kaneko K, Yokoi K, Balance control of a biped vehicle combing off-line pattern with real-time modification, Proc. IEEE Int.Conf. Vehicleics and Automation, (2000)3346- 3352.
    Lee Woosub, Kang Sungchul, Kim Munsang, ROBHAZ-DT3: Teleoperated Mobile Platform with Passively Adaptive Double - track Hazardous Environment Applications, Proc.of IROS. Sendai ,Japan ,2004 ,pp.33-38.
    Lee C H, Kim S H, Kang S C, Double–track Mobile Robot for Hazardous Environment Applications, The International Journal of the Vehicleics Society of Japan Advanced Vehicleics , 17(5) (2003) 447-459 .
    Shigeo Hirose, Edwardo F. Fukushima, Design of Terrain Adaptive Versatile Crawler Vehicle HELI2OS - VI , Proc. of Int . Conf . on ICRA. Seoul , 2001, pp.1540-1545.
    Daniel M. Helmick, stergios I. Roumeliotis, Michael C. Mc Henry, Multi-Sensor, High Speed Autonomous Stair Climb- ing, Proceeding of ICRA 2002, pp. 733-742.
    Woosub Lee, Sungchul Kang, Munsang Kim, ROB- HAZDT3:Teleoperated Mobile Platform with Passively Adap- tive Double-Track Hazardous Environment Applications, In Proc. of IROS 2004, pp.33-38.
    G. Kohler, M. Selig , M. Salaske, Manipulator Robots of the Muclear Emergency Brigade in the Federal Republic of Ger- many, In Proc. of 24th Conf. on Remote System Techmology, 1976, pp.l 96-218.
    Halme, I. Leppanen, S. Salmi, Development of Work partner vehicle-Design of actuating and motion control system, In Proc. Second Int. Conf. on Climbing and Walking Vehicles, Ports- mouth, England, 1999.

Engineering Information Institute is the member of/source content provider to