Abstract:This article introduces a tracked-leg transformable robot, TALBOT. The mechanical and electrical design, control method, and environment perception based on LiDAR are discussed. The original tracked-leg transformable structure allows the robot to switch between the tracked and legged mode to achieve all-terrain adaptation. In the tracked mode,TALBOT is controlled by the method of differential speed between the two tracked feet. In the legged mode, TALBOT is controlled based on a bionic control strategy of the … Show more
“…It could thus be used in a variety of domains, including space robotics. TALBOT [52] (shown in Fig. 8(d)) was a tracked-leg transformable robot.…”
Section: Research Status Of Ugv Platformmentioning
confidence: 99%
“…8(f)) was a two-wheeled balancing robot with the ability to move swiftly over flat terrain and jump over obstacles. The mechanical design of the system, which was 3D-printed and topology-optimized, had proven to be both light and impact-resistant. Figure 8. Complex mobile type UGV platform: (a) EPFL wheel-leg type platform Shrimp [49]; (b) Tencent Robotics X laboratory Ollie [50]; (c) the latest incarnation of ANYmal: Swiss-Mile [51]; (d) tracked-leg transformable robot platform TALBOT [52]; (e) a horse inspired eight-wheel ugv Dragon Horse [53, 55]; (f) wheel-leg jumping robot platform Ascento [54]. …”
Section: Research Status Of Ugv Platformmentioning
confidence: 99%
“…Complex mobile type UGV platform: (a) EPFL wheel-leg type platform Shrimp [49]; (b) Tencent Robotics X laboratory Ollie [50]; (c) the latest incarnation of ANYmal: Swiss-Mile [51]; (d) tracked-leg transformable robot platform TALBOT [52]; (e) a horse inspired eight-wheel ugv Dragon Horse [53, 55]; (f) wheel-leg jumping robot platform Ascento [54]. …”
Section: Research Status Of Ugv Platformmentioning
confidence: 99%
“…The mechanical design of the system, which was 3D-printed and topology-optimized, had proven to be both light and impact-resistant. [52]; (e) a horse inspired eight-wheel ugv Dragon Horse [53,55]; (f) wheel-leg jumping robot platform Ascento [54].…”
Section: Complex Mobile Type Ugv Platformmentioning
This article presents a review of the platform configuration and dynamic of obstacle-surmounting unmanned ground vehicles (UGVs). For now, unmanned systems have emerged as a result of the rapid advancement of artificial intelligence and modern manufacturing techniques both domestically and internationally. The research on unmanned systems has been improved a lot. The UGV platform can execute transportation, recurring, and military tasks independently. For the high-level self-control, adaption, and maneuverability abilities, the UGV platform has been applied in the military, industry, and other special fields widely. The UGV platform usually performs tasks in an unstructured environment, so the all-terrain performance becomes a key factor restricting their operating efficiency and reliability. A brief literature review of the UGV platform is carried out in this article.
“…It could thus be used in a variety of domains, including space robotics. TALBOT [52] (shown in Fig. 8(d)) was a tracked-leg transformable robot.…”
Section: Research Status Of Ugv Platformmentioning
confidence: 99%
“…8(f)) was a two-wheeled balancing robot with the ability to move swiftly over flat terrain and jump over obstacles. The mechanical design of the system, which was 3D-printed and topology-optimized, had proven to be both light and impact-resistant. Figure 8. Complex mobile type UGV platform: (a) EPFL wheel-leg type platform Shrimp [49]; (b) Tencent Robotics X laboratory Ollie [50]; (c) the latest incarnation of ANYmal: Swiss-Mile [51]; (d) tracked-leg transformable robot platform TALBOT [52]; (e) a horse inspired eight-wheel ugv Dragon Horse [53, 55]; (f) wheel-leg jumping robot platform Ascento [54]. …”
Section: Research Status Of Ugv Platformmentioning
confidence: 99%
“…Complex mobile type UGV platform: (a) EPFL wheel-leg type platform Shrimp [49]; (b) Tencent Robotics X laboratory Ollie [50]; (c) the latest incarnation of ANYmal: Swiss-Mile [51]; (d) tracked-leg transformable robot platform TALBOT [52]; (e) a horse inspired eight-wheel ugv Dragon Horse [53, 55]; (f) wheel-leg jumping robot platform Ascento [54]. …”
Section: Research Status Of Ugv Platformmentioning
confidence: 99%
“…The mechanical design of the system, which was 3D-printed and topology-optimized, had proven to be both light and impact-resistant. [52]; (e) a horse inspired eight-wheel ugv Dragon Horse [53,55]; (f) wheel-leg jumping robot platform Ascento [54].…”
Section: Complex Mobile Type Ugv Platformmentioning
This article presents a review of the platform configuration and dynamic of obstacle-surmounting unmanned ground vehicles (UGVs). For now, unmanned systems have emerged as a result of the rapid advancement of artificial intelligence and modern manufacturing techniques both domestically and internationally. The research on unmanned systems has been improved a lot. The UGV platform can execute transportation, recurring, and military tasks independently. For the high-level self-control, adaption, and maneuverability abilities, the UGV platform has been applied in the military, industry, and other special fields widely. The UGV platform usually performs tasks in an unstructured environment, so the all-terrain performance becomes a key factor restricting their operating efficiency and reliability. A brief literature review of the UGV platform is carried out in this article.
“…WheTLHLoc employs the legged wheels to help the tracked body perform stair‐climbing movements (Bruzzone et al, 2021). TALBOT has four limbs that are able to switch between tracked and legged mode to achieve all‐terrain adaptation (Guo et al, 2022).…”
This paper presents the design and control of Q-Whex, an untethered, quasiwheeled hexapod robot. Q-Whex has only six actuators-one motor located at each hip-achieving mechanical simplicity that promotes reliable and robust operation in real-world tasks. All of the robot's mechanical parts are simply fabricated with carbon fiber plates, which makes the robot very easy to make. Q-Whex is capable of performing wheeled-like smooth rides over flat ground with a tripod gait, and thereby prevent the common problem of trunk fluctuations in legged-wheel robots. It is also able to traverse height variations well exceeding its trunk clearance. The performance of Q-Whex is evaluated in various scenarios, including driving and turning over flat terrains, ramp-riding, step-crossing, stairclimbing, and irregular terrain-traversing.
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