The hybrid mobile robot

Vysin, M.; Knoflíček, Radek

doi:10.1109/icit.2003.1290291

Cited by 12 publications

(7 citation statements)

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“…According to (10), the total length L of track can be described as following by the parameter α. According to the configuration features of track mechanism and the four-bar linkage, the parameters a, b, c, d, l 1 , and l 2 must satisfy the conditions as follows: According to the requirement (a), the mechanism parameters a, b, c, d, l 1 , and l 2 , which influence the track length, will be analysed.…”

Section: A Parameter Design Of the Track Mechanismmentioning

confidence: 99%

“…The transformable track robots, such as CALEB-2 [1], VSTR [2] [3], ROBHAZ-DT [4][5] [6], Single-Tracked [7], and VGTV [8], were design to maximize flexibility and adaptability to irregular environment by transforming the configuration of track, to reduce energy consumption by minimizing the contact length with the ground, and to improve stability by maximizing the contact length with the ground. The hybrid robots, such as AZIMUT [9], HYBRID Robot [10], wheeltrack-leg Robot [11], and miniature wheel-track-leg mobile robot [12], can determine to move by wheel, leg, or track according to the different environment. However, the autonomous adaptability of these kinds of the robots is restricted because of the reasons as follows:…”

Section: Introductionmentioning

confidence: 99%

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Parameter design and optimization for mobile mechanism of a transformable wheel-track robot

et al. 2009

2009 IEEE International Conference on Automation and Logistics

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According to the terrain features of the irregular environment, we propose a novel mobile mechanism of the transformable wheel-track robot (TWTR). The TWTR can adapt autonomously to the irregular environment by transforming the track configuration or by changing the locomotion mode between track mode and wheel mode. The TWTR mechanism consists of a control system unit and two symmetric transformable wheeltrack units. As the mobile mechanism of TWTR, the wheel-track unit is composed of a transformable track mechanism and a drive wheel mechanism. The drive system of the wheel-track unit provides two outputs in different form only by one servo motor, or rather enables the wheel-track unit to have the abilities to transform the configuration of the track and to make the robot move by wheel or by track. In this paper, we design the parameters of track mechanism by parametric optimization based on genetic algorithm, and design the parameters of the drive wheel mechanism according to the configuration features of the wheel-track unit. The validity of the parameters is demonstrated by simulation on the robot transforming the track configuration and changing the locomotion mode. Index Terms -Mobile mechanism. Irregular environment.Transformable wheel-track robot. Parameter design.

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Section: A Parameter Design Of the Track Mechanismmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Parameter design and optimization for mobile mechanism of a transformable wheel-track robot

et al. 2009

2009 IEEE International Conference on Automation and Logistics

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“…For example, CALEB-2 [1], VSTR [2,3], ROBHAZ-DT [4][5][6], Single-Tracked [7], and VGTV [8] are some typical robots that have been developed with T-track mechanisms. AZIMUT [9], HYBRID Robot [10], the wheel-track-leg Robot [11], and the miniature wheel-track-leg mobile robot [12] are typical examples of hybrid mechanism robots.…”

Section: Introductionmentioning

confidence: 99%

Analysis of the constraint relation between ground and self-adaptive mobile mechanism of a transformable wheel-track robot

et al. 2011

Sci. China Technol. Sci.

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To maneuver in unstructured terrains where the ground might be soft, hard, flat or rough, a transformable wheel-track robot (NEZA-I) with a self-adaptive mobile mechanism is proposed and developed. The robot consists of a control system unit, two symmetric transformable wheel-track (TWT) units, and a rear-wheel unit. The TWT unit is the main mobile mechanism for the NEZA-I robot, with the rear-wheel unit acting as an assistant mechanism. Driven only by one servomotor, each TWT unit can efficiently select between track mode and wheel mode for optimal locomotion, autonomously switching locomotion mode and track configuration with changes in the terrain. In this paper, the mechanism structure, the self-adaptive drive system, the locomotion mode and posture of the NEZA-I robot are presented, the kinematic relation of the inside parts of the TWT unit is analysed, and the mathematic model of the constraint relation between the mobile mechanism and the ground, abbreviated to "MGCR model" is set up for the NEZA-I robot to go through some typical unstructured environments. The mechanism parameters, which influence the self-adaptability of the NEZA-I robot, are found and optimized. Basic experiments show that the mobile mechanism has the self-adaptability to navigate in unstructured terrains and has superior obstacle-negotiating performance, and that the MGCR model and the analysis method of mechanism parameters are reasonable. From a mechanism point of view, it can provide an idea for research on the adaptive control of the robot.self-adaptive mobile mechanism, transformable track, wheel-track hybrid robot, mechanism design Citation:Li Z Q, Ma S G, Li B, et al. Analysis of the constraint relation between ground and self-adaptive mobile mechanism of a transformable wheel-track robot.

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“…机器人有韩国忠南大学 CALEB-2 [1] 机器人、韩国科学技术院 VSTR [2,3] 和 ROBHAZ-DT 系列机器人 [4~6] 、韩国全北国立大学 Single-Tracked 机器人 [7] 、法国 VGTV 机器人 [8] 等; 较为典型的复合型移动机器人有加拿大谢布鲁克大学研制的 AZIMUT 机器人 [9] 、捷克布尔诺理工大学研制的 HYBRID 移动机器人 [10] 、中科院沈阳自动化研究所研制的轮-腿-履带复合移动排爆机器人 [11,12] 、北京理工大学研制的小型轮-履-腿复合式机器人 [13] 等.…”

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