Tripod Gait Planning of a Rimless-wheeled Robot with Changeable Spokes

摘要：

This paper presents an innovative locomotion concept for rough terrain based on six motorized rimless wheels. Different from traditional wheels, the rimless wheels can not only provide more traction on uneven earths surface, but also have advanced adaptation to the complex terrain. In order to make the robot move stably and efficiently, the design proposes a novel mechanism of the rimless-wheeled robot and motion planning, including running and turning. Especially, the control strategy takes the motion planning of an unequal number of spokes on each wheel into consideration. In the experiments, the results show that the robot is able to climb about 1~1.5 times high stairs and travel on rough terrain without its center of gravity up and down intensely. Furthermore, some motion parameters are optimized to improve the efficiency of the robot during its running and turning.

作者: Minglei Sun Songlin Li Xiuchun Liu Rong Zhang Guanghua Zong

作者单位: School of Mechanical Engineering and Automation,Beijing University of Aeronautics and Astronautics,Beijing,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1715-1720

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）