| Title | A Hybrid Wheel-Leg Transformable Robot with Minimal Actuator Realization |
| Author | |
| Corresponding Author | Jia, Zhenzhong |
| DOI | |
| Publication Years | 2022
|
| Conference Name | 7th IEEE International Conference on Advanced Robotics and Mechatronics
|
| ISBN | 978-1-6654-8307-0
|
| Source Title | |
| Pages | 731-736
|
| Conference Date | JUL 09-11, 2022
|
| Conference Place | null,Guilin,PEOPLES R CHINA
|
| Publication Place | 345 E 47TH ST, NEW YORK, NY 10017 USA
|
| Publisher | |
| Abstract | Wheel-leg transformable robots have great overall performance in various terrains by taking full advantage of both locomotion modalities. However, they tend to have much more complicated designs and actuators than single-mode robots. This paper proposes a wheel-leg transformable robot design with minimal actuator realization. To this end, we design a novel wheel-leg transformable module that uses tendon-driven mechanism for motion mode switching of each module, and a tendon network that uses a single actuator to control all tendons for mode switching of the entire robot. Hence, a N-legged robot only needs N + 1 actuators. To validate our design, we build an experiment platform, develop associated control algorithms, and conduct both simulation and field experiments over flat ground and rough terrains such as stairs and obstacles. |
| Keywords | |
| SUSTech Authorship | First
; Corresponding
|
| Language | English
|
| URL | [Source Record] |
| Indexed By | |
| Funding Project | Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS20200811143601004]
|
| WOS Research Area | Automation & Control Systems
; Engineering
; Robotics
|
| WOS Subject | Automation & Control Systems
; Engineering, Electrical & Electronic
; Robotics
|
| WOS Accession No | WOS:000926398000119
|
| Data Source | Web of Science
|
| PDF url | https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9959370 |
| Citation statistics |
Cited Times [WOS]:0
|
| Document Type | Conference paper |
| Identifier | http://kc.sustech.edu.cn/handle/2SGJ60CL/416003 |
| Department | Department of Mechanical and Energy Engineering |
| Affiliation | 1.Southern Univ Sci & Technol SUSTech, Dept Mech & Energy Engn, Shenzhen Key Lab Biomimet Robot & Intelligent Sys, Shenzhen 518055, Peoples R China 2.SUSTech, Guangdong Prov Key Lab Human Augmentat & Rehabil, Shenzhen 518055, Peoples R China |
| First Author Affilication | Department of Mechanical and Energy Engineering; Southern University of Science and Technology |
| Corresponding Author Affilication | Department of Mechanical and Energy Engineering; Southern University of Science and Technology |
| First Author's First Affilication | Department of Mechanical and Energy Engineering |
| Recommended Citation GB/T 7714 |
Liu, Zhengtao,Dai, Cunxi,Liu, Xiaohan,et al. A Hybrid Wheel-Leg Transformable Robot with Minimal Actuator Realization[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2022:731-736.
|
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| A_Hybrid_Wheel-Leg_T（1792KB） | Restricted Access | -- | ||||
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