Design of a Wheel-Propeller-Leg Integrated Amphibious Robot
文献类型：会议论文
| 作者 | Yu JC(俞建成) ; Tang YG(唐元贵); Zhang XQ(张雪强); Liu CJ(刘崇杰)
|
| 出版日期 | 2010 |
| 会议名称 | 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010) |
| 会议日期 | December 7-10, 2010 |
| 会议地点 | Singapore |
| 关键词 | amphibious robot wheel-propeller-leg Integrated crawling locomotion swimming locomotion |
| 页码 | 1815-1819 |
| 中文摘要 | The operation capabilities of robot in the amphibious environments (such as shallow water fields, surf zones, and beaches) are critical for military and civilian. In this paper, we introduce a novel amphibious robot with wheel-propeller-leg integrated driving devices, developed by Shenyang Institute of Automation, which can realize both crawling locomotion on the ground and swimming locomotion in the water without changing its driving devices. This paper describes the design of the overall robot structure, the design of the novel driving devices, and the design of the embedded control system, respectively. All the driving devices of the robot are driven by independent motor, thus the amphibious robot can conveniently switch its locomotion modes according to the operational environments. The embedded control system is a distributed control system based on CAN bus, which makes it is easy to expend sensors and devices for the robot in the future. Finally, the hydrodynamic performances of the wheel-propeller device are analyzed by using CFX hydrodynamic calculation software, and some primary experiments have been done for verifying the fundamental locomotion functions of the robot. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV 2010)
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-7813-2 |
| WOS记录号 | WOS:000291559800310 |
| 源URL | [http://ir.sia.cn/handle/173321/7806]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Yu JC,Tang YG,Zhang XQ,et al. Design of a Wheel-Propeller-Leg Integrated Amphibious Robot[C]. 见:11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010). Singapore. December 7-10, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。