Proceedings of the 2017 6th International Conference on Measurement, Instrumentation and Automation (ICMIA 2017)

Design and Motion Analysis of Wheel-leg Compound Variable Displacement and Obstacle Surmounting Robot

Authors
Hesheng Yin, Qiuju Zhang, Meng Ning
Corresponding Author
Hesheng Yin
Available Online June 2017.
DOI
10.2991/icmia-17.2017.116How to use a DOI?
Keywords
Unstructured environment; Mobile robots; Wheel-leg compound; Obstacle
Abstract

Aiming at the characteristics of unstructured environment, this paper proposes a new type of wheel-leg compound mobile robot suitable for unstructured environment.This innovation is that the robot adopts the wheel-leg compound configuration and sliding structure of the fuselage, and it can carry out the load to the heightened surface with large height difference through the deformation of the body without the need of auxiliary.In the process of crossing the barrier, the robot can keep the load plane parallel to the ground and the robot has a strong ability to adapt to the environment and the ability to obstruct the obstacle. The performance of the mobile robot under unstructed environment,including walking on slope, surmounting obstacles,striding ditchs,stepping up and down ladders etc.,is analyzed.

Copyright
© 2017, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the 2017 6th International Conference on Measurement, Instrumentation and Automation (ICMIA 2017)
Series
Advances in Intelligent Systems Research
Publication Date
June 2017
ISBN
10.2991/icmia-17.2017.116
ISSN
1951-6851
DOI
10.2991/icmia-17.2017.116How to use a DOI?
Copyright
© 2017, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - Hesheng Yin
AU  - Qiuju Zhang
AU  - Meng Ning
PY  - 2017/06
DA  - 2017/06
TI  - Design and Motion Analysis of Wheel-leg Compound Variable Displacement and Obstacle Surmounting Robot
BT  - Proceedings of the 2017 6th International Conference on Measurement, Instrumentation and Automation (ICMIA 2017)
PB  - Atlantis Press
SP  - 650
EP  - 655
SN  - 1951-6851
UR  - https://doi.org/10.2991/icmia-17.2017.116
DO  - 10.2991/icmia-17.2017.116
ID  - Yin2017/06
ER  -