Idea of wheel-legged robot and its control system design

• Autorzy: Szrek J. , Wojtowicz P.
• Języki publikacji: EN

Abstrakty

EN

The wheel-legged robot is a vehicle with many degrees of freedom. Thanks to its peculiar design, depending on the need, the vehicle will use one of its ways of moving: travelling on wheels or walking (in special situations), which enhances its locomotive properties. The paper presents the robot’s kinematic wheel suspension system, general operation strategy and control system. The application responsible for robot control and data visualization is described. Finally, selected tests of the algorithms, carried out on the robot prototype, are presented.

Słowa kluczowe

EN

wheel-legged robot; control system design

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2010
• Tom: Vol. 58, nr 1
• Strony: 43--50
• Opis fizyczny: Bibliogr. 8 poz., rys., fot.

Twórcy

autor

Szrek J.

autor

Wojtowicz P.

• Division of Machine Theory and Mechatronical Systems, Wroclaw University of Technology, 7/9 Łukasiewicza St., 50-370 Wrocław, Poland,

Bibliografia

• [1] A. Halme, I. Lepp¨anen, S. Salmi, and S. Yl¨onen, “Hybrid locomotion of wheel-legged machine”, Proc. CLAWAR 2000 Conf. Professional Engineering Publishing Ltd. 1, 167–173 (2000).
• [2] Ch. Grand, F. BenAmar, F. Plumet, Ph. Bidaud, “Stability control of a wheel-legged mini-rover”, Proc. CLAWAR 2002 Conf. Professional Engineering Publishing Ltd. 1, 323–330 (2002).
• [3] S. Guccione and G. Muscato, “The wheeleg robot”, IEEE Robotics & Automation Magazine 10 (4), 33–43 (2003).
• [4] J. Szrek, “Hybrid suspension systems of mobile robots”, 8th Scientific Seminar of Students and Young Mechanical Engineers 1, 363–369 (2005).
• [5] J. Szrek, “Method of synthesizing mobile wheel-legged robot”, 20th Research-Educational Conf. Theory of Machines 1, 207–213 (2006).
• [6] J. Szrek, Synthesis of the Kinematic and Control System of a Quadruped Wheel-legged Robot, PhD thesis, Wroclaw University of Technology, Wroclaw, 2008.
• [7] M. Wnuk, “Module with MC68332 microcontroller”, in: Report SPR 7/2004, Wrocław University of Technology, Wroclaw, 2004.
• [8] http://robosystem.pl – website with robot’s presentation film.