Volume 35 Issue 3
Mar.  2009
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Chen Diansheng, Huang Yu, Wang Tianmiaoet al. Obstacle climbing analysis and simulation of wheel-legged robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2009, 35(3): 371-375. (in Chinese)
Citation: Chen Diansheng, Huang Yu, Wang Tianmiaoet al. Obstacle climbing analysis and simulation of wheel-legged robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2009, 35(3): 371-375. (in Chinese)

Obstacle climbing analysis and simulation of wheel-legged robot

  • Received Date: 18 Mar 2008
  • Publish Date: 31 Mar 2009
  • 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.

     

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