| 具有新型轮式走行部的移动机器人及其特性研究 |
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| 引用本文： | 付宜利,徐贺,王树国.具有新型轮式走行部的移动机器人及其特性研究[J].高技术通讯,2004,14(12):73-77. |
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| 作者姓名： | 付宜利 徐贺 王树国 |
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| 作者单位： | 哈尔滨工业大学现代生产技术中心,哈尔滨,150001;哈尔滨工业大学现代生产技术中心,哈尔滨,150001;哈尔滨工业大学现代生产技术中心,哈尔滨,150001 |
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| 基金项目： | 863计划 (2 0 0 2AA42 2 2 40 )资助项目 |
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| 摘 要： | 提出了一种新型4 1轮式移动机器人结构。着重研究了这种独特车体形态的重构特性和仿生结构，分析了其转向性能、越障性能、稳定性能、附着性能。结果表明，这种机器人具有良好的复杂地形的通过性和自定位能力。
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| 关 键 词： | 行星车 移动机器人 导航和定位 走行部 |
A Mobile Robot with Innovative Locomotion and Its Characteristics Analysis |
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| Fu Yili,Xu He,Wang Shuguo.A Mobile Robot with Innovative Locomotion and Its Characteristics Analysis[J].High Technology Letters,2004,14(12):73-77. |
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| Authors: | Fu Yili Xu He Wang Shuguo |
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| Abstract: | A kind of mobile robot with innovative 4+1 wheeled locomotion is introduced. Its bionic and reconfiguration characteristics were investigated and the steering ability, terrain ability, static stability and adhesion ability were analyzed. It is concluded that the robot has better trafficability and self-localization ability. |
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| Keywords: | Planetary vehicles Autonomous mobile robot Navigation and localization Locomotion |
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