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�������պ����ѧѧ�� 2009, Vol. 35 Issue (3) :371-375    DOI:
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Obstacle climbing analysis and simulation of wheel-legged robot
Chen Diansheng, Huang Yu, Wang Tianmiao*
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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Abstract�� A wheel-legged structure with insectival leg configuration in a ground mobile robot was presented in order to improve the terrain adaptability and obstacle climbing capability of the robot. An optimal wheel-legged configuration which enhances the movement stability of the robot was selected. The obstacle climbing performance for the robot configuration under unstructured environment was analyzed, theoretically proving that this wheel-legged structure possesses good obstacle climbing ability and stability. Kinematic simulation using ADAMS (automatic dynamic analysis of mechanical systems) validates the strong obstacle climbing capability of the robot that can successfully climb over a vertical barrier whose height is 1.2 times of the wheel-leg radius, which proves the feasibility of the wheel-legs structure and the effectiveness of the obstacle climbing principle, laying a solid basis for future research of wheel-legged robots.
Keywords�� mobile robots   wheel-legged structure   obstacle climbing   kinematic simulation     
Received 2008-03-18;
Fund:

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About author: �µ���(1969-),��,���ַ�����,����,chends@163.com.
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�µ���, �� ��, ������.��ʽ���ͻ����˵�Խ�Ϸ��������[J]  �������պ����ѧѧ��, 2009,V35(3): 371-375
Chen Diansheng, Huang Yu, Wang Tianmiao.Obstacle climbing analysis and simulation of wheel-legged robot[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2009,V35(3): 371-375
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