Nonlinear Model-Based Disturbance Compensation for a Two-Wheeled Balancing Mobile Robot

유재림,; 김용국,; 권상주,

doi:10.5302/j.icros.2016.16.0123

Cited by 2 publications

(1 citation statement)

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“…Three common structure categories exist: wheeled, crawler type, and leg type [ 13 , 14 ]. The wheeled mobile robot is fast with flexible control, but the capacity in overcoming obstacles is limited and its adaptability is poor [ 15 , 16 ]. The crawler-type mobile robot has a good travel mechanism and a large ground contact surface.…”

Section: Land Part Structure Of the Air-ground Amphibious Reconnaissance Robotmentioning

confidence: 99%

Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure

Zhang

Sun

Pang

et al. 2021

Applied Bionics and Biomechanics

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According to the requirements of the reconnaissance robot for the ability to adapt to a complex environment and the in-depth study of the obstacle climbing mechanisms, a planetary wheel-leg-combined mechanism capable of adapting to complex terrains is proposed. According to the proposed planetary wheel-leg-combined mechanism, the land part of the air-ground amphibious reconnaissance robot is designed. Considering the obstacle and fast marching performance, four groups of combined wheel-leg mechanisms are adopted in the land bank. Under the action of three kinds of obstacles, the stability and the movement ability of the robot are analyzed by using the static method. The parameter model of the reconnaissance robot is built by a virtual prototype dynamics software MSC.ADMAS. The kinematic characteristic curves of each component and the whole prototype are obtained, which provides a theoretical basis for the design and numerical calculation of the robot structure. Finally, the climbing ability tests of the reconnaissance robot prototype verify the reliability and practicability of the body structure of the reconnaissance robot.

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