Research on the Modeling and Transition Algorithm of a Novel Wall-climbing Robot
文献类型：会议论文
| 作者 | Li ZH(李贞辉) ; Wang HG(王洪光); Wang YC(王越超); Liu AH(刘爱华); Dong WG(董伟光)
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| 出版日期 | 2011 |
| 会议名称 | 2011 International Conference on Mechatronics and Information Technology |
| 会议日期 | August 16-19, 2011 |
| 会议地点 | Shenyang, China |
| 关键词 | Wall-climbing Robot Transition between inclined surfaces FSM |
| 页码 | 340-345 |
| 通讯作者 | 李贞辉 |
| 中文摘要 | This paper presents a modeling and transition algorithm of a novel wall-climbing robot with biped-wheel hybrid mechanism. In order to realize robot transitions between inclined surfaces, the robot’s locomotion gait is analyzed and a locomotion gait planning model based on Finite State Machine (FSM) is established. Moreover a transition algorithm between inclined surfaces is proposed based on multi-sensors data fusions and logical reasoning networks. The results of simulations and experiments show that the model and algorithm are valid and can be applied for the wall-climbing robot’s transition between the concave surfaces. |
| 收录类别 | CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Natural Science Foundation of China (NSFC), |
| 会议录 | Advanced Engineering Forum
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| 会议录出版者 | Trans Tech Publications Inc |
| 会议录出版地 | Enfield, NH |
| 语种 | 英语 |
| ISSN号 | 2234-991X |
| ISBN号 | 978-3-03785-336-8 |
| WOS记录号 | WOS:000317993700066 |
| 源URL | [http://ir.sia.cn/handle/173321/7727]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 推荐引用方式 GB/T 7714 | Li ZH,Wang HG,Wang YC,et al. Research on the Modeling and Transition Algorithm of a Novel Wall-climbing Robot[C]. 见:2011 International Conference on Mechatronics and Information Technology. Shenyang, China. August 16-19, 2011. |
入库方式： OAI收割
来源：沈阳自动化研究所
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