Design and Motion Synthesis of Modular Walking Robot Mero

• Autorzy: Ion I. E. , Marin A. , Curaj A. , Vladareanu L.
• Języki publikacji: EN

Abstrakty

EN

The walking robots are built to displace the loads on the not-aligned terrain. The mechatronic walking system protects much better the environment when its contact with the soil is discrete, a fact that limits the area that is crushed appreciatively. At the Polytechnic University of Bucharest a walking modular robot to handle farming tools has been developed. This walking robot has three twolegged modules. Every leg has three freedom degrees and a tactile sensor to measure the contact, which consists of the lower and upper levels. The body of the MERO (MEchanism RObot) walking robot carries a gyroscopic bearing sensor to measure the pitch and roll angles of the platform. The legs are powered by hydraulic drives and are equipped with potentiometric sensors. They are used to control the walking robot in the adaptability to a natural ground. A vehicle like that is Romanian Walking Robot MERO (Fig.1).

Słowa kluczowe

EN

walking robot; modular walking robot; robot control; shift mechanism

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2008
• Tom: Vol. 2, No. 4
• Strony: 25--30
• Opis fizyczny: Bibliogr. 9 poz., rys.

Twórcy

autor

Ion I. E.

autor

Marin A.

autor

Curaj A.

autor

Vladareanu L.

• Politehnica University of Bucharest, Splaiul Independentei 313, Bucharest, Postal Code 060042, Romania,

Bibliografia

• [1] Bessonov A.P., Umnov N.V., "The Analysis of Gaits in six-legged Robots according to their Static Stability". In: Proc. Symp. Theory and Practice of Robots and Manipulators, Udine, Italy, 1973.
• [2] Duan J.C., Chung F.L, "k Mamdani Type Multistage Fuzzy Neural Network Model". In: IEEE Fuzzy Systems Conference 1998-FUZZ'98, pp. 1253-1258.
• [3] Hirose S., Three Basic Types of Locomotion in Mobile Robots, IEEE 1991, pp. 12-17.
• [4] Ion L, Simionescu L, Curaj A., "Mobile Mechatronic System With Applications in Agriculture and Sylviculture". In: The 2th - IFAC International Conference on Mechatronic Systems, 8th-12th December 2002, Berke-ley USA.
• [5] Ion I., Stefanescu D.M., "Force Distribution in the MERO Four-Legged Walking Robot". In: ISMCR'99 - Topicai Workshop on Virtuai Reatity and Advanced Human-Robot Systems, vol. X, 10th-llth June 1999, Tokyo, Japan.
• [6] Ion I., Simionescu I., Avramescu A., "Stability Analysis of Spider Gaits of Four legges Walking Machines". In: 4th Int Workshop Robotics in the Alpes-Adria Region RAA'95, 6th-8th July 1995, Portschach, Austria.
• [7] Ion I., Ungureanu M., Simionescu L., "Control System of MERO modular Walking Robot". In: Proceedings of the International Conference on Manufacturing Systems, Bucharest, 10th-llth October 2002, ICMaS 2002, Editura Academiei, ISBN 973-27-0932-4, pp. 351-354.
• [8] Simionescu I., Ion I., Ciupitu L., "Optimisation of Walking Robots Movement Systems". In: Proceedings of the VII International Congress on the Theory of Machines and Mechanisms, 3rd-5th September 1996, Liberec, Czech Republic.
• [9] Waldron K.J., "Force and Motion Managementin Legged Locomotion". In: Proceedings of 24th IEEE Conference on Decision and Control, Fort Lauderdale, 1985, pp. 12-17.