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Journal of KONES

Tytuł artykułu

A mobility analysis of using the Rhex-type mobile robot in various surroundings

Autorzy Gąsiorowski, M.  Szczepaniak, R.  Stabryn, S. 
Treść / Zawartość
Warianty tytułu
Języki publikacji EN
EN Mobile robots are becoming increasingly popular, finding a great deal of applications, especially in situations where conventional mobility systems, such as wheels or tracks, prove ineffective. Exploration of an unknown environment or a place, in which Man is incapable of staying, for example exploring remote planets in the Solar System, is often linked with operating a device in a rough terrain. This requires an adjustment of the robot locomotion system to the ground. The problem of high mobility in diverse surroundings is still a major challenge. Therefore, the concept of mobile robots is extremely popular and is still being developed. Using this type of propulsion carries several advantages, namely the possibility of applicability of this type of solutions in an environment, which is not easily accessible to wheeled vehicles (sandy, mountainous terrain, etc.). There is still a large interest of constructors and scientists in unconventional drive systems, adapted directly from nature, which often offers very efficient solutions. Quite frequently, designers copy the construction of animal locomotion system, attempting at implementing them in their designs. The aim of this article is to present an original construction, known as the Rhex-type robot in the available literature. In addition, it presents a number of conducted investigations, which describe the platform’s mobility in various terrains, such as sands, rocks and rubbles, as well as the possibility to overcome the terrain obstacles. It ends with conclusions and potential application areas of this type of a design.
Słowa kluczowe
EN mobile robot   Rhex   mobility   animal locomotion system  
Wydawca Institute of Aviation
Czasopismo Journal of KONES
Rocznik 2018
Tom Vol. 25, No. 3
Strony 175--181
Opis fizyczny Bibliogr. 6 poz., rys.
autor Gąsiorowski, M.
autor Szczepaniak, R.
  • Polish Air Force Academy, Aeronautics Faculty Dywizjonu 303 Street 25, 08-521 Deblin, Poland tel.: + 48 261 517427, fax: +48 261 517421 ,
autor Stabryn, S.
  • Polish Air Force Academy, Aeronautics Faculty Dywizjonu 303 Street 25, 08-521 Deblin, Poland tel.: + 48 261 517427, fax: +48 261 517421 ,
[1] Gąsiorowski, M., Analiza wybranego algorytmu sterowania robota kroczącego, Warszawa 2016.
[2] Gąsiorowski, M., Projekt układu sterowania robota kroczącego, Warszawa 2015.
[3] Halliday, D., Resnick, R., Walker, J., Podstawy fizyki, Wydawnictwo Naukowe PWN, Warszawa 2013.
[4] HC-03/05 Embedded Bluetooth Serial Communication Module AT command set, 2011.
[5] Saranli, U., Beuhler, M., Koditschek, D., Rhex – A simple and highly mobile hexapod robot, The International Journal of Robotics Research, Vol. 20 (7), pp. 616-631, 2001.
[6] Zielińska, T., Maszyny kroczące, Wydawnictwo PWN, Warszawa 2003.
Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).
Kolekcja BazTech
Identyfikator YADDA bwmeta1.element.baztech-88748053-6f7f-4d96-9e38-532cabf7e70a
DOI 10.5604/01.3001.0012.4329