Gait Planning and Simulation of Obstacle Negotiation for an Amphibious Robot
文献类型：会议论文
| 作者 | Tang YG(唐元贵) ; Zhang AQ(张艾群); Yu JC(俞建成)
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| 出版日期 | 2009 |
| 会议名称 | The IASTED International Conference on Modeling, Simulation and Identification |
| 会议日期 | October 12 – 14, 2009 |
| 会议地点 | Beijing, China |
| 关键词 | Amphibious robot obstacle negotiation virtual prototype simulation compound-mobile mechanism gait planning |
| 页码 | 3631-3637 |
| 中文摘要 | A wheel-propeller-leg integrated amphibious robot is presented as a new type of robot, which can both crawl on land and swim underwater in certain depth or creep on ocean floor. The obstacle negotiation capability shows its adaptability for unstructured environment when the robot crawls on land. Based on the analysis of the motion principle and the kinematic model of the compound mobile mechanism, new types of obstacle negotiation gaits are developed dealing with different kinds of obstacle, and the strategies for obstacle negotiation gait planning are given respectively. The simulation researches on obstacle negotiation kinematics are carried out by using the virtual prototype of the robot in ADAMS (Automatic Dynamic Analysis of Mechanical Systems). The simulation results prove that the wheel-propeller-leg integrated amphibious robot be endowed with good performance in both stability of obstacle negotiation and adaptability for complex terrain, according to the obstacle negotiation gait planning. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | The IASTED International Conference on Modeling, Simulation and Identification
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| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/7819]  |
| 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 | Tang YG,Zhang AQ,Yu JC. Gait Planning and Simulation of Obstacle Negotiation for an Amphibious Robot[C]. 见:The IASTED International Conference on Modeling, Simulation and Identification. Beijing, China. October 12 – 14, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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