DocumentCode :
3096714
Title :
Wheeled locomotion for payload carrying with modular robot
Author :
Hou, Feili ; Ranasinghe, Nadeesha ; Salemi, Behnam ; Shen, Wei-Min
Author_Institution :
Inf. Sci. Inst., Univ. of Southern California, Marina del Rey, CA
fYear :
2008
fDate :
22-26 Sept. 2008
Firstpage :
1331
Lastpage :
1337
Abstract :
Carrying heavy payloads is a challenging task for the modular robot, because its composing modules are relatively tiny and less strong compared with conventional robots. To accomplish this task, we attached passive rollers to the modular robot, and designed a wheeled locomotion gait called tricycleBot. The gait is inspired by paddling motion, and is implemented on the modular robot called SuperBot. Features of this gait are systematically studied and verified through extensive experiments. It is shown that tricycleBot can carry payloads at least 530% of its own weight. It can also be steered remotely to move forward/backward, turn left/right. Capability of tricycleBot demonstrates that the versatility of modular robot can be further expanded to solve very specialized and challenging tasks by using heterogeneous devices.
Keywords :
mobile robots; motion control; SuperBot; heterogeneous devices; modular robot; paddling motion; passive rollers; payload carrying; tricycleBot; wheeled locomotion; Force; Joints; Mobile robots; Payloads; Robots; Wheels; Wireless communication;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
Type :
conf
DOI :
10.1109/IROS.2008.4651082
Filename :
4651082
Link To Document :
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