Modelling the motion of the mobile hybrid robot

• Autorzy: Trojnacki M. T.
• Języki publikacji: EN

Abstrakty

EN

In this paper, the state of the art of mobile hybrid robots was depicted. These kinds of mobile robots can move in a more diversified terrain than traditional wheeled or tracked ones. In this work, the kinematic structure of a small mobile hybrid robot is illustrated. The sequence of climbing of this robot on the stairs is described. The model of the robot for its six characteristic configurations was described. Simulation and animation of the robot climbing the stairs is performed. It is executed using the Matlab/Simulink package.

Słowa kluczowe

EN

mobile hybrid robots; climbing the stairs; motion modelling; computer simulation

PL

modelowanie ruchu; symulacja komputerowa

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2010
• Tom: Vol. 15, no 3
• Strony: 885--893
• Opis fizyczny: Bibliogr. 7 poz., rys.

Twórcy

autor

Trojnacki M. T.

• Industrial Research Institute for Automation and Measurements (PIAP) Al. Jerozolimskie 202, 02-486 Warszawa, POLAND,

Bibliografia

• Endo G. and Hirose S. (2000a): Study on Roller-Walker - multi-mode steering control and self-contained locomotion. – Journal of Robotics and Mechatronics, vol.12, No.5, pp.559-566.
• Endo G. and Hirose S. (2000a): Study on Roller-Walker. System integration and basic experiments. – Journal of the Robotics Society of Japan, vol.18, No.2, pp.270-277.
• Kamimura A. and Kurokawa H. (2009): High-step climbing by a crawler robot DIR-2, realization of automatic climbing motion. – The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems October 11-15, 2009 St. Louis, USA, pp.618-624.
• Mizunuma S., Motomura K. and Hirose S. (2009): Development of the arm-wheel hybrid robot “Souki-II” (Total System Design and Basic Components). – The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems October 11-15, 2009 St. Louis, USA, pp.4535-4540.
• Trojnacki M.T.: Mobile robots – animations and movies. – http://www.mtrojnacki.republika.pl/MobileRobots/index.html.
• Slideshow: Next Stop, The Moon, http://www.spectrum.ieee.org/print/6408.
• Chaos robot is ready to tangle, http://dvice.com/archives/2007/02/chaos_robot_is_ready_ to_tangle.php