Design and basic experiments of a shape-shifting mobile robot for Urban Search and Rescue
文献类型：会议论文
| 作者 | Ye ZL(叶长龙); Ma SG(马书根) ; Li B(李斌)
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| 出版日期 | 2006 |
| 会议名称 | IEEE/RSJ International Conference on Intelligent Robots and Systems |
| 会议日期 | October 9-13, 2006 |
| 会议地点 | Beijing, China |
| 关键词 | rescue robot modular unit shape-shifting environment adaptation |
| 页码 | 3994-3999 |
| 中文摘要 | The recent natural and man-made devastations have urged the research on the Urban Search and Rescue (USAR) robot systems. This paper presents a novel shape-shifting mobile robot system named as Amoeba H (A-H) for the urban search and rescue application. It has been designed with three degrees of freedom (DOFs) and two tracked drive systems. This robot consists of two modular mobile units and a joint unit. The mobile unit is a tracked mechanism to enforce the propulsion of robot. The joint unit can transform the robot shape for getting high mobility. A-II robot not only can adapt to the environment but also can change its body corresponding to locus space. It behaves two states including the parallel state (named as H state) and the linear state (named as I state). The parallel state enables the robot with high mobility on rough ground. With the linear state the robot can climb upstairs and go through narrow space such as the pipe, cave etc. Also, the joint unit can propel the robot to roll in sidewise direction. Especially, two modular A-II robots can be connected through jointing common interfaces on the joint unit to compose a stronger shape-shifting robot, which can transform the body into four wheels-driven vehicle. Finally, the elementary experimental results validate the adaptation and its mobility. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE, RSJ |
| 会议录 | 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-0258-8 |
| WOS记录号 | WOS:000245452404018 |
| 源URL | [http://ir.sia.cn/handle/173321/8628]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Ye ZL,Ma SG,Li B. Design and basic experiments of a shape-shifting mobile robot for Urban Search and Rescue[C]. 见:IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, China. October 9-13, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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