Body-deformation steering approach to guide a multi-mode amphibious robot on land

	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	复杂系统认知与决策实验室_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
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
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.