CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Body-deformation steering approach to guide a multi-mode amphibious robot on land
Yang, Qinghai; Yu, Junzhi; Ding, Ru; Tan, Min
2008
Conference NameICIRA 2008 First International Conference on Intelligent Robotics and Applications
Conference DateOct. 2008
Conference PlaceWuhan, China
AbstractThis paper addresses the locomotion control for a biomimetic amphibious robot capable of multi-mode motion both in water and on land. Currently, a wheel-like device named wheel-paddle is employed as the primary driving mode. Depending on the deflections of rear propelling units, a body-deformation based steering approach is proposed, and an optimal realization is explored through geometrical analysis. Furthermore, the kinematic models as well as corresponding simulation results are outlined and the error between two models is also summarized. The experimental results demonstrate the validity, stability and maneuverability of the formed steering, satisfying robot's operation requirements on land.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13058
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu, Junzhi
AffiliationKey Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
Recommended Citation
GB/T 7714
Yang, Qinghai,Yu, Junzhi,Ding, Ru,et al. Body-deformation steering approach to guide a multi-mode amphibious robot on land[C],2008.
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