Cited 8 time in webofscience Cited 12 time in scopus

Autonomous Terrain Adaptation and User-Friendly Tele-Operation of Wheel-Track Hybrid Mobile Robot

Title
Autonomous Terrain Adaptation and User-Friendly Tele-Operation of Wheel-Track Hybrid Mobile Robot
Authors
Kim, YG[Kim, Yoon-Gu]Kwak, JH[Kwak, Jeong-Hwan]Hong, DH[Hong, Dae-Han]Kim, IH[Kim, In-Huck]Shin, DH[Shin, Dong-Hwan]An, J[An, Jinung]
DGIST Authors
Kim, YG[Kim, Yoon-Gu]; Kwak, JH[Kwak, Jeong-Hwan]; Hong, DH[Hong, Dae-Han]; Kim, IH[Kim, In-Huck]; Shin, DH[Shin, Dong-Hwan]An, J[An, Jinung]
Issue Date
2012-10
Citation
International Journal of Precision Engineering and Manufacturing, 13(10), 1781-1788
Type
Article
Article Type
Article
Keywords
Intuitive SteeringMobile RobotTerrain-AdaptiveTransformable StructureWheel-Track Hybrid
ISSN
2234-7593
Abstract
This paper presents a terrain-adaptive wheel-track hybrid robot that uses a pair of combined wheel and track systems. The hybrid mobile platform can change the shape of track to adapt to various terrains so that it is able to move fast on flat terrain and to show good performance in overcoming stairs or obstacles. The proposed platform consists of an ordinary wheel structure for fast navigation on flat floors and a transformable tracked structure for climbing stairs effectively. In detail, three track arms installed on each side of the platform are used for the navigation mode transition between flatland navigation and stair climbing. The mode transition is determined and implemented by the adaptive driving mode control of the mobile robot. This wheel-track hybrid mobile platform is evaluated through experiments that assess its navigation performance in real and test-bed environments. This hybrid mobile robot is embodied to perform given tasks in a hazardous environment for surveillance, reconnaissance, and search and rescue applications. © KSPE and Springer 2012.
URI
http://hdl.handle.net/20.500.11750/1617
DOI
10.1007/s12541-012-0234-9
Publisher
Korean Society for Precision Engineering and Manufacturing
Related Researcher
Files:
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Collection:
Division of IoT∙Robotics Convergence Research1. Journal Articles
ETCETC
ETC1. Journal Articles
Convergence Research Center for Future Automotive Technology1. Journal Articles
Convergence Research Center for Future Automotive Technology1. Journal Articles


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