An angle-changeable tracked robot with human-robot interaction in unstructured environments
Zong, Chengguo1,2; Ji, Zhijian1; Yu, Junzhi3; Yu, Haisheng4
发表期刊ASSEMBLY AUTOMATION
ISSN0144-5154
2020-04-17
页码11
通讯作者Ji, Zhijian(jizhijian@pku.org.cn)
摘要Purpose The purpose of this paper is to study the adaptability of the tracked robot in complex working environment. It proposes an angle-changeable tracked robot with human-robot interaction in unstructured environment. The study aims to present the mechanical structure and human-robot interaction control system of the tracked robot and analyze the static stability of the robot working in three terrains, i.e. rugged terrain, sloped terrain and stairs. Design/methodology/approach The paper presents the mechanical structure and human-robot interaction control system of the tracked robot. To prevent the detachment of the tracks during obstacle navigation, a new type of passively adaptive device based on the relationship between the track's variable angle and the forces is presented. Then three types of rough terrain are chosen to analyze the static stability of the tracked robot, i.e. rugged terrain, sloped terrain and stairs. Findings This paper provides the design method of the tracked robot. Owing to its appropriate dimensions, good mass distribution and limited velocity, the tracked robot remains stable on the complex terrains. The experimental results verify the effectiveness of the design method. Originality/value The theoretical analysis of this paper provides basic reference for the structural design of tracked robots.
关键词Human-robot interaction Tracked robot Mechanical structure Unstructured environments Passively adaptive device
DOI10.1108/AA-11-2018-0231
关键词[WOS]MOBILE ROBOT ; DESIGN ; PLATFORM ; VEHICLE ; SYSTEM
收录类别SCI
语种英语
资助项目National Natural Science Foundation of China[61873136] ; National Natural Science Foundation of China[61374062] ; National Natural Science Foundation of China[61603288] ; Science Foundation of Shandong Province for Distinguished Young Scholars[JQ201419] ; Special Funds of Shandong Province for Post-doctoral Innovation Projects[201702038] ; Post-doctoral Application Research Project of Qingdao
项目资助者National Natural Science Foundation of China ; Science Foundation of Shandong Province for Distinguished Young Scholars ; Special Funds of Shandong Province for Post-doctoral Innovation Projects ; Post-doctoral Application Research Project of Qingdao
WOS研究方向Automation & Control Systems ; Engineering
WOS类目Automation & Control Systems ; Engineering, Manufacturing
WOS记录号WOS:000526908000001
出版者EMERALD GROUP PUBLISHING LTD
引用统计
被引频次:11[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/38807
专题复杂系统管理与控制国家重点实验室
通讯作者Ji, Zhijian
作者单位1.Qingdao Univ, Inst Complex Sci, Coll Automat, Qingdao, Peoples R China
2.Shandong Univ Sci & Technol, Coll Mech & Elect Engn, Qingdao, Peoples R China
3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China
4.Qingdao Univ, Coll Automat, Qingdao, Peoples R China
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GB/T 7714
Zong, Chengguo,Ji, Zhijian,Yu, Junzhi,et al. An angle-changeable tracked robot with human-robot interaction in unstructured environments[J]. ASSEMBLY AUTOMATION,2020:11.
APA Zong, Chengguo,Ji, Zhijian,Yu, Junzhi,&Yu, Haisheng.(2020).An angle-changeable tracked robot with human-robot interaction in unstructured environments.ASSEMBLY AUTOMATION,11.
MLA Zong, Chengguo,et al."An angle-changeable tracked robot with human-robot interaction in unstructured environments".ASSEMBLY AUTOMATION (2020):11.
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