Title :
MOBIT, A Small Wheel - Track - Leg Mobile Robot
Author :
Duan, Xingguang ; Huang, Qiang ; Rahman, Nasir ; Li, Junchen ; Li, Jingtao
Author_Institution :
Dept. of Mechatronics Eng., Beijing Inst. of Technol.
Abstract :
MOBIT is a small mobile robotic platform that combines wheels, legs and tracks to move with different locomotion modes in both indoor and outdoor environments. Utilizing its independent actuated arms up and down, many desired locomotion modes can be realized, which makes the robot good adaptability and high capability of obstacle negotiation. To validate the concept, the first prototype developed measures 70 cm times 60 cm with the articulations up and has a body clearance of 7.8 cm to 37.8 cm depending on the position of the articulations. To control the different components of the robot, the embedded control system is used and the teleoperation makes the robot work practice. The effectiveness of the developed mobile robot is confirmed by experiments such as climbing stairs, traversing steps and posture recovering when tipped over
Keywords :
collision avoidance; legged locomotion; robot dynamics; telerobotics; wheels; 60 cm; 70 cm; MOBIT; embedded control system; locomotion modes; obstacle negotiation; teleoperation; wheel-track-leg mobile robot; Control systems; Humanoid robots; Leg; Manipulators; Mechatronics; Mobile robots; Prototypes; Reconnaissance; Research and development; Wheels; locomotion modes; mobile robot; negotiating capability; posture recovery; stair-climbing;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1713772
