Posture Control of a Reconfigurable Mobile Vehicle with Legged Mode
Aiming at the moving requests of the miniature mobile vehicle under the environment of indoors and outdoors, A small track-wheel-legged mobile vehicle was developed in this paper. Many desired locomotion modes such as wheeled, tracked and legged locomotion can be realized by utilizing its independen...
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| Veröffentlicht in: | Applied Mechanics and Materials 2014-03, Vol.541-542 (Engineering and Manufacturing Technologies), p.1049-1052 |
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| container_issue | Engineering and Manufacturing Technologies |
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| container_title | Applied Mechanics and Materials |
| container_volume | 541-542 |
| creator | Li, Ya Ping Li, Pei Yu Zhao, Hong Hua Tian, Jian Ying |
| description | Aiming at the moving requests of the miniature mobile vehicle under the environment of indoors and outdoors, A small track-wheel-legged mobile vehicle was developed in this paper. Many desired locomotion modes such as wheeled, tracked and legged locomotion can be realized by utilizing its independently actuated arms up and down. In order to have good adaptability, high maneuverability of obstacle negotiation and high locomotion security, the kinematic modelling was described, kinematic equations were derived, and optimization control was realized based on the analysis of the stability characteristics with wheel-legged locomotion, which can realize the posture control of mobile vehicle, so that the vehicle has the abilities of maintaining relatively stability of the body over uneven ground,. and these abilities are of great significance to stable operation and vision control of the vehicle. |
| doi_str_mv | 10.4028/www.scientific.net/AMM.541-542.1049 |
| format | Article |
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In order to have good adaptability, high maneuverability of obstacle negotiation and high locomotion security, the kinematic modelling was described, kinematic equations were derived, and optimization control was realized based on the analysis of the stability characteristics with wheel-legged locomotion, which can realize the posture control of mobile vehicle, so that the vehicle has the abilities of maintaining relatively stability of the body over uneven ground,. and these abilities are of great significance to stable operation and vision control of the vehicle.</description><identifier>ISSN: 1660-9336</identifier><identifier>ISSN: 1662-7482</identifier><identifier>ISBN: 9783038350552</identifier><identifier>ISBN: 3038350559</identifier><identifier>EISSN: 1662-7482</identifier><identifier>DOI: 10.4028/www.scientific.net/AMM.541-542.1049</identifier><language>eng</language><publisher>Zurich: Trans Tech Publications Ltd</publisher><subject>Indoor ; Kinematic equations ; Locomotion ; Negotiations ; Obstacles ; Security ; Stability ; Vehicles</subject><ispartof>Applied Mechanics and Materials, 2014-03, Vol.541-542 (Engineering and Manufacturing Technologies), p.1049-1052</ispartof><rights>2014 Trans Tech Publications Ltd</rights><rights>Copyright Trans Tech Publications Ltd. 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| ispartof | Applied Mechanics and Materials, 2014-03, Vol.541-542 (Engineering and Manufacturing Technologies), p.1049-1052 |
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| source | Scientific.net Journals |
| subjects | Indoor Kinematic equations Locomotion Negotiations Obstacles Security Stability Vehicles |
| title | Posture Control of a Reconfigurable Mobile Vehicle with Legged Mode |
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