Body-deformation steering approach to guide a multi-mode amphibious robot on land
文献类型：会议论文
| 作者 | Yang, Qinghai; Yu, Junzhi ; Ding, Ru; Tan, Min
|
| 出版日期 | 2008 |
| 会议名称 | ICIRA 2008 First International Conference on Intelligent Robotics and Applications |
| 会议日期 | Oct. 2008 |
| 会议地点 | Wuhan, China |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | This paper addresses the locomotion control for a biomimetic amphibious robot capable of multi-mode motion both in water and on land. Currently, a wheel-like device named wheel-paddle is employed as the primary driving mode. Depending on the deflections of rear propelling units, a body-deformation based steering approach is proposed, and an optimal realization is explored through geometrical analysis. Furthermore, the kinematic models as well as corresponding simulation results are outlined and the error between two models is also summarized. The experimental results demonstrate the validity, stability and maneuverability of the formed steering, satisfying robot's operation requirements on land. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13058]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China |
| 推荐引用方式 GB/T 7714 | Yang, Qinghai,Yu, Junzhi,Ding, Ru,et al. Body-deformation steering approach to guide a multi-mode amphibious robot on land[C]. 见:ICIRA 2008 First International Conference on Intelligent Robotics and Applications. Wuhan, China. Oct. 2008. |
入库方式： OAI收割
来源：自动化研究所
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