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四足偏心轮腿机器人的越障研究 预览 被引量:3

On Obstacle Crossing Research for Quadruped Eccentric Wheel-Legged Robot
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摘要 针对轮式移动机器人越障效果不够理想的现状,提出一种基于偏心轮作为行走单元的四足偏心轮腿机器人的模型,经过理论研究证明该设想具有一定的可行性。设计制作了一种四足偏心轮腿机器人样机,以高层建筑物的楼梯作为连续台阶障碍物,进行攀爬障碍物的实验,实验结果表明该机器人具有较好的越障效果。 Considering that traditional four wheel driven mobile robot can't cross high obstacle ,we put for-ward a model of Quadruped Eccentric Wheel-legged Robot based on eccentric wheels .Theoretical analysis proves that the idea is feasible .We have produce a prototype and do some experiments on the stairs in high-rise building .The experimental results show that the robot has better effect on crossing obstacle and climbing stairs .
作者 葛耿育 王宇俊 GE Geng-yu, WANG Yu-jun( 1. School of Computer and Information Science, Southwest University, Chongqing 400715, China 2. School of Computer and Information Science Zunyi Normal College, Zunyi Guizhou 563002, China)
出处 《西南师范大学学报:自然科学版》 CAS CSCD 北大核心 2014年第10期96-100,共5页 Journal of Southwest China Normal University(Natural Science)
关键词 四足 偏心轮 机器人 越障 quadruped eccentric w heel robot crossing obstacle
作者简介 葛耿育(1989-),男,安徽合肥人,主要从事计算机系统结构方面的研究.
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