Development and motion analysis of miniature wheel-track-legged mobile robot

2007 ◽  
Vol 20 (03) ◽  
pp. 24 ◽  
Author(s):  
Xingguang DUAN
Keyword(s):  
Mobile Robot ◽  
Motion Analysis ◽  
Wheel Track

scholarly journals Functional Design of a Hybrid Leg-Wheel-Track Ground Mobile Robot

Machines ◽  
2021 ◽  
Vol 9 (1) ◽  
pp. 10
Author(s):  
Luca Bruzzone ◽  
Mario Baggetta ◽  
Shahab E. Nodehi ◽  
Pietro Bilancia ◽  
Pietro Fanghella
Keyword(s):  
Mobile Robot ◽  
High Energy ◽  
General Purpose ◽  
Stair Climbing ◽  
Functional Design ◽  
Multibody Simulation ◽  
Embodiment Design ◽  
Locomotion System ◽  
Hybrid Locomotion ◽  
Wheel Track

This paper presents the conceptual and functional design of a novel hybrid leg-wheel-track ground mobile robot for surveillance and inspection, named WheTLHLoc (Wheel-Track-Leg Hybrid Locomotion). The aim of the work is the development of a general-purpose platform capable of combining tracked locomotion on irregular and yielding terrains, wheeled locomotion with high energy efficiency on flat and compact grounds, and stair climbing/descent ability. The architecture of the hybrid locomotion system is firstly outlined, then the validation of its stair climbing maneuver capabilities by means of multibody simulation is presented. The embodiment design and the internal mechanical layout are then discussed.

scholarly journals A reconfigurable hybrid wheel-track mobile robot based on Watt II six-bar linkage

2018 ◽  
Vol 128 ◽  
pp. 16-32 ◽  
Author(s):  
Zirong Luo ◽  
Jianzhong Shang ◽  
Guowu Wei ◽  
Lei Ren
Keyword(s):  
Mobile Robot ◽  
Wheel Track

Image-Based Motion Analysis for Self-Reconfigurable Mobile Robot With Integrated Docking

2019 ◽  
Author(s):  
Shubhdildeep S. Sohal ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Mobile Robot ◽  
Motion Analysis ◽  
Visual Servoing ◽  
Experimental Results ◽  
Sensory Data ◽  
Simulated Environment ◽  
Locomotion Behavior ◽  
Coupling Performance ◽  
Design Integration ◽  
Hybrid Locomotion

Abstract This paper presents the design integration and experimental results of target-based autonomous locomotion of a Self-Reconfigurable Mobile Robot. Uncertainties in the sensory data can accumulate the misalignments in locomotion behavior of the robot. Such misalignments can result in a poor coupling performance resulting in the failure of the overall docked system. Therefore, it is desirable for a robot to be capable of mechanically tolerating such misalignments. As a result, a Hybrid-Wheeled mobile robot, interfaced with a 2-DOF, high misalignment tolerant coupling (GHEFT) mechanism is presented in this paper. This combined assembly is used as a source of locomotion for autonomous docking in a multi-robot assembly using Image-Based Visual Servoing (IBVS). The resulting output is then implemented in a simulated environment for the autonomous locomotion of the robot. Experimental results demonstrate the feature motion and trajectory followed under the hybrid locomotion of the robot.

Stability Analysis of a Wheel-Track-Leg Hybrid Mobile Robot

2017 ◽  
Vol 91 (3-4) ◽  
pp. 515-528 ◽  
Author(s):  
Yuhang Zhu ◽  
Yanqiong Fei ◽  
Hongwei Xu
Keyword(s):  
Stability Analysis ◽  
Mobile Robot ◽  
Wheel Track
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