Mechanical design of the Wheel-Leg hybrid mobile robot to realize a large wheel diameter

Tadakuma, Kenjiro; Tadakuma, Riichiro; Maruyama, Atsuo; Rohmer, Eric; Nagatani, Keiji; Yoshida, Kazuya; Ming, Aigou; Shimojo, Makoto; Higashimori, Mitsuru; Kaneko, Makoto

doi:10.1109/iros.2010.5651912

Cited by 64 publications

(27 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Speed of Climbing(second/step) Raibert biped [10] MSRox [11] PackBot [3] Honda P3 [12] Rhex [13] WL-12RIII [14] Wheel-leg Biped [15] …”

Section: Robotsmentioning

confidence: 99%

Inverse Dynamic Modeling of a Stair-Climbing Robotic Platform with Flip Locomotion

Choi¹,

Jeong²,

Seo³

2015

Journal of Institute of Control, Robotics and Systems

View full text Add to dashboard Cite

Stairs are the most popular obstacles in buildings and factories. To enlarge the application areas of a field robotic platform, stair-climbing is very important mission. One important reason why a stair-climbing is difficult is that stairs are various in sizes. To achieve autonomous climbing of various-sized stairs, dynamic modeling is essential. In this research, an inverse dynamic modeling is performed to enable an autonomous stair climbing. Stair-climbing robotic platform with flip locomotion, named FilpBot, is analyzed.

show abstract

“…Speed of Climbing(second/step) Raibert biped [10] MSRox [11] PackBot [3] Honda P3 [12] Rhex [13] WL-12RIII [14] Wheel-leg Biped [15] …”

Section: Robotsmentioning

confidence: 99%

Inverse Dynamic Modeling of a Stair-Climbing Robotic Platform with Flip Locomotion

Choi¹,

Jeong²,

Seo³

2015

Journal of Institute of Control, Robotics and Systems

View full text Add to dashboard Cite

show abstract

“…In our system, for each sample measured we store a vector [X^jy? 1 ] 11 where Xj G M 20 are 20 pixels from the linear CCD of the interferometer sensor, and Yj G M 10 are the measured 10 angles of the segmented leg. During normal functioning (after learning) a sample x G M 20 is read from the interferometer sensor.…”

Section: Leg Deformation Sensingmentioning

confidence: 99%

“…After the rotation axis is shifted the leg becomes a full wheel. A retractable wheel-leg design has been proposed in [11] where a circle is divided into three segments that can be used as a 3dof leg. The Jacobsen robot [12] follows a similar design, but in this case the wheel is separated in two by a middle bar, resulting also in a 3dof leg.…”

Section: Introductionmentioning

confidence: 99%

Design and sensing of a flexible robot leg

Lopes

Zhang

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

This paper reports on the work completed towards the design and sensing of a flexible robotic leg with applications to search and rescue and home robotics. Taking inspiration from the tentacles of cephalopods, we have designed and constructed a segmented leg that is driven by a single motor. The overall deformation of the segmented leg is achieved via tendons. Such a design enables the leg to be modular and mountable in any robotic platform that is driven by wheels or tracks. The deformation of the leg is measured in real-time using a fiber optic sensor that can be used for control purposes. We present experimental results for deformation sensing.

show abstract

“…For example, Kim et al [26] designed a wheel-leg hybrid robot which utilizes a novel transformable wheel that combines the advantages of both circular and legged wheels. Tadakuma et al [27] and Chen et al [28] also have studied this type of robot. Although many robots with different wheel-legged structures have been designed and the movement performances have been analyzed, the wheel-legged robots still have the disadvantages of complex structure, difficult control, large space required for wheel-legged translation, and limited movement environment.…”

Section: Introductionmentioning

confidence: 99%

Design, Analysis, and Experiment for Rescue Robot with Wheel-Legged Structure

Meng

Xue

et al. 2017

Mathematical Problems in Engineering

View full text Add to dashboard Cite

A wheel-legged rescue robot design with strong environmental adaptability is proposed. The design presented is aimed at helping rescue workers complete their missions, such as environmental and personnel search, quickly and accurately. So it has broad application prospects. In order to achieve the advantages of simple structure, easy control, small occupation space, and wide motion range, a wheel-legged rescue robot is designed in this paper, and the robot can realize three kinds of motion states, which include wheel state, rotation center lifting process, and leg state. Then the motion states are analyzed in detail, which provides a reference for motion control. Considering the wheel state and leg state share the same structure to contact with the ground, the effect of the stiffness of wheel-legged structure to the motion performance is analyzed. Then the experiment is carried out to prove the feasibility of the structure design. This study offers a design and quantitative analysis for wheel-legged rescue robot. Furthermore, a basis for future control research and engineering applications is established.

show abstract

Mechanical design of the Wheel-Leg hybrid mobile robot to realize a large wheel diameter

Cited by 64 publications

References 8 publications

Inverse Dynamic Modeling of a Stair-Climbing Robotic Platform with Flip Locomotion

Inverse Dynamic Modeling of a Stair-Climbing Robotic Platform with Flip Locomotion

Design and sensing of a flexible robot leg

Design, Analysis, and Experiment for Rescue Robot with Wheel-Legged Structure

Contact Info

Product

Resources

About