Title :
The mobility performances of new wheeled and legged hybrid mechanisms system robot iSRo
Author :
Kuswadi, Son ; Sulistijono, Indra Adji ; Ardyansyah, Rachman ; Zulkarnain, Ahmad ; Avianto, Tiyo ; Imaduddin, Ilmi Rizki ; Luthfi, Achmad ; Saifulloh, Moh ; Jazidie, Achmad ; Sampei, Mitsuji
Author_Institution :
Dept. of Mechatron. Eng., Electron. Eng. Polytech. Inst. of Surabaya (EEPIS), Surabaya, Indonesia
Abstract :
In rescue robot competition field, a robot needs to operate in various dynamic environments where they encounter a multitude of unknown both static and/or moving obstacles and targets. Hence, the robot should have high mobility performance to cope with this situation. Here, we propose a new robot hybrid mechanism that consists of wheeled and legged actuators. Based upon the designed mechanism, we derive 10 primitive motions. It is apparent that with this large number of primitive motions, the robot could achieve high mobility performances. We show such high performance by simulation and experiment.
Keywords :
collision avoidance; industrial robots; legged locomotion; robot dynamics; dynamic environment; legged actuator; legged hybrid mechanism system; mobility performance; moving obstacle; rescue robot competition; robot hybrid mechanism; robot iSRo; static obstacle; wheeled actuator; wheeled hybrid mechanism system; Actuators; Biological systems; Leg; Legged locomotion; Mobile robots; Parallel robots; Robot kinematics; Robotic assembly; Service robots; Welding; Hybrid mechanisms; mobility; parallel robot; rescue robot;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3