Title :
Development of a mobile robot controlled by three motors for hostile environment
Author :
Gweon, D.G. ; Cha, Y.Y. ; Cho, H.S.
Author_Institution :
Dept. of Production Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
Abstract :
In this study a hybrid legged/wheeled mobile robot, KAMOBOT, is developed. The mobile robot has a six-legged cylindrical configuration, each leg of which is equipped with a wheel at the bottom. The robot can go up and down stairs, go over obstacles, move along curvilinear paths and rotate around its geometric center. Such maneuverability can be achieved by using only three electric motors. In this study several gate modes are analyzed and algorithms for gate control are presented.<>
Keywords :
mobile robots; KAMOBOT; curvilinear paths; gate control; gate modes; hostile environment; hybrid legged/wheeled mobile robot; six-legged cylindrical configuration; Belts; Engine cylinders; Leg; Mobile robots; Robot control; Shafts; Spline; Springs; Timing; Wheels;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240555
