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多运动模式的小型地面移动机器人设计与实现
引用本文:段星光,黄强,李京涛,张明路.多运动模式的小型地面移动机器人设计与实现[J].中国机械工程,2007,18(1):8-12.
作者姓名:段星光  黄强  李京涛  张明路
作者单位:1. 北京理工大学,北京,100081
2. 河北工业大学,天津,300130
基金项目:国家高技术研究发展计划(863计划)
摘    要:设计了一种可以在复杂环境下运动,并具有多种运动模式的小型地面移动机器人。该机器人所具有的轮式、履带式和腿式等多种运动模式可以提高其环境适应能力和越障能力。研究开发的样机采用了ARM+DSP结构的嵌入式控制系统以及遥控/半自主的工作方式,具有高机动性、小型化、轻量化、可复位以及低功耗、高实时性等特点。通过爬越台阶、楼梯等越障实验,验证了其越障能力和环境适应能力。

关 键 词:移动机器人  多运动模式  越障能力  嵌入式系统
文章编号:1004-132X(2007)01-0008-05
修稿时间:2005-10-30

Design and Implementation of a Small Ground Mobile Robot with Multi-locomotion Modes
Duan Xingguang,Huang Qiang,Li Jingtao,Zhang Minglu.Design and Implementation of a Small Ground Mobile Robot with Multi-locomotion Modes[J].China Mechanical Engineering,2007,18(1):8-12.
Authors:Duan Xingguang  Huang Qiang  Li Jingtao  Zhang Minglu
Affiliation:1. Beijing Institute of Technology, Beijing, 100081; 2. Hebei University of Technology, Tianjin, 300130
Abstract:A small ground mobile robot with multi-locomotion modes was presented,that can maneuver in both indoor and outdoor environments in different locomotion modes such as wheeled mode,tracked mode,and legged mode etc.,which made the robot has higher capability of negotiating obstacles and more adaptive to the environment change.To validate the concept,the first prototype was developed that adopted the embedded control system with ARM+DSP structure and worked in the semi-autonomy method.The robot has the characteristics of high mobility,small size,light weight and posture-recovering.Its capability and effectiveness is tested by experiments such as climbing stairs,traversing steps etc.
Keywords:mobile robot  multi-locomotion mode  negotiating capability  embedded control system
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