Body-deformation steering approach to guide a multi-mode amphibious robot on land
Yang, Qinghai; Yu, Junzhi; Ding, Ru; Tan, Min
2008
会议名称ICIRA 2008 First International Conference on Intelligent Robotics and Applications
会议日期Oct. 2008
会议地点Wuhan, China
摘要This 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.
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13058
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Yu, Junzhi
作者单位Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
推荐引用方式
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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