An angle-changeable tracked robot with human-robot interaction in unstructured environments
文献类型：期刊论文
| 作者 | Zong, Chengguo3,4; Ji, Zhijian4; Yu, Junzhi1 ; Yu, Haisheng2
|
| 刊名 | ASSEMBLY AUTOMATION
 |
| 出版日期 | 2020-04-17 |
| 页码 | 11 |
| 关键词 | Human-robot interaction Tracked robot Mechanical structure Unstructured environments Passively adaptive device |
| ISSN号 | 0144-5154 |
| DOI | 10.1108/AA-11-2018-0231 |
| 通讯作者 | Ji, Zhijian(jizhijian@pku.org.cn) |
| 英文摘要 | Purpose The purpose of this paper is to study the adaptability of the tracked robot in complex working environment. It proposes an angle-changeable tracked robot with human-robot interaction in unstructured environment. The study aims to present the mechanical structure and human-robot interaction control system of the tracked robot and analyze the static stability of the robot working in three terrains, i.e. rugged terrain, sloped terrain and stairs. Design/methodology/approach The paper presents the mechanical structure and human-robot interaction control system of the tracked robot. To prevent the detachment of the tracks during obstacle navigation, a new type of passively adaptive device based on the relationship between the track's variable angle and the forces is presented. Then three types of rough terrain are chosen to analyze the static stability of the tracked robot, i.e. rugged terrain, sloped terrain and stairs. Findings This paper provides the design method of the tracked robot. Owing to its appropriate dimensions, good mass distribution and limited velocity, the tracked robot remains stable on the complex terrains. The experimental results verify the effectiveness of the design method. Originality/value The theoretical analysis of this paper provides basic reference for the structural design of tracked robots. |
| WOS关键词 | MOBILE ROBOT ; DESIGN ; PLATFORM ; VEHICLE ; SYSTEM |
| 资助项目 | National Natural Science Foundation of China[61873136] ; National Natural Science Foundation of China[61374062] ; National Natural Science Foundation of China[61603288] ; Science Foundation of Shandong Province for Distinguished Young Scholars[JQ201419] ; Special Funds of Shandong Province for Post-doctoral Innovation Projects[201702038] ; Post-doctoral Application Research Project of Qingdao |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000526908000001 |
| 出版者 | EMERALD GROUP PUBLISHING LTD |
| 资助机构 | National Natural Science Foundation of China ; Science Foundation of Shandong Province for Distinguished Young Scholars ; Special Funds of Shandong Province for Post-doctoral Innovation Projects ; Post-doctoral Application Research Project of Qingdao |
| 源URL | [http://ir.ia.ac.cn/handle/173211/38806]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室 |
| 通讯作者 | Ji, Zhijian |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China 2.Qingdao Univ, Coll Automat, Qingdao, Peoples R China 3.Shandong Univ Sci & Technol, Coll Mech & Elect Engn, Qingdao, Peoples R China 4.Qingdao Univ, Inst Complex Sci, Coll Automat, Qingdao, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zong, Chengguo,Ji, Zhijian,Yu, Junzhi,et al. An angle-changeable tracked robot with human-robot interaction in unstructured environments[J]. ASSEMBLY AUTOMATION,2020:11. |
| APA | Zong, Chengguo,Ji, Zhijian,Yu, Junzhi,&Yu, Haisheng.(2020).An angle-changeable tracked robot with human-robot interaction in unstructured environments.ASSEMBLY AUTOMATION,11. |
| MLA | Zong, Chengguo,et al."An angle-changeable tracked robot with human-robot interaction in unstructured environments".ASSEMBLY AUTOMATION (2020):11. |
入库方式： OAI收割
来源：自动化研究所
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