Title :
The structure design and dynamics analysis of an autonomous over-obstacle mobile robot
Author :
Furui, Wang ; Dexin, Wang ; Erbao, Dong ; Haoyao, Chen ; Huasheng, Du ; Jie, Yang
Author_Institution :
China Univ. of Sci. & Technol., Hefei
Abstract :
A small-scale autonomous over-obstacle mobile robot which combined the characteristics of wheel-style, leg-style and pedrail-style was designed to fulfil different requirements. This paper presented the mechanical structure, sensor perception system and control system of the mobile robot; analyzed the kinematic and dynamic problems during movement and obstacle-crossing
Keywords :
collision avoidance; mobile robots; robot dynamics; sensors; autonomous over-obstacle mobile robot; control system; dynamics analysis; leg-style characteristics; mechanical structure; obstacle crossing; pedrail-style characteristics; sensor perception system; structure design; wheel-style characteristics; Arm; Belts; DC motors; Feedback; Kinematics; Legged locomotion; Mechanical sensors; Mobile robots; Sensor systems; Wheels; autonomous over-obstacle mobile robot; dynamic analysis; kinematic analysis;
Conference_Titel :
Industrial Technology, 2005. ICIT 2005. IEEE International Conference on
Conference_Location :
Hong Kong
Print_ISBN :
0-7803-9484-4
DOI :
10.1109/ICIT.2005.1600644
