NDLI: Modeling and Control of a Small Mobile Robot with Multi-Locomotion Modes

Content Provider	IEEE Xplore Digital Library
Author	Xingguang Duan Qiang Huang Rahman, N. Jingtao Li Qinjun Du
Copyright Year	2006
Description	Author affiliation: Dept. of Mechatronics Eng., Beijing Inst. of Technol. (Xingguang Duan; Qiang Huang; Rahman, N.; Jingtao Li; Qinjun Du)
Abstract	In this paper we describes the kinematic and dynamic control modeling of a small wheel-track-legged mobile robot MOBIT which is targeted to applications in various hazardous environments to carry out military and civilian missions. The models for MOBIT have some individuality because of its multi-locomotion modes named wheeled, tracked, legged mode. Different kinematics and dynamic control equations are derived based on its multi-locomotion modes respectively, and their features in different modes are revealed. Particularly, the modeling description of differential driven in wheeled mode, characteristics of slippage in tracked mode and posture definition in legged mode are presented mathematically. By using the Routh method, the dynamic control model is established. Unlike other robot operating on a flat surface, the proposed equations are solved to obtain the robot position, posture and its dynamic characteristics that can be used for autonomous motion control of robot operating with different locomotion modes in rough terrains
Starting Page	592
Ending Page	597
File Size	678429
Page Count	6
File Format	PDF
ISBN	0769525288
DOI	10.1109/ISDA.2006.253903
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-16
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mechatronics Target tracking multi-locomotion modes dynamic control Wheels mobile robot Mobile robots Vehicle dynamics Leg Vehicles kinematic Kinematics Differential equations Hardware
Content Type	Text
Resource Type	Article

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