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dc.contributor.author Kim, Yoon-Gu -
dc.contributor.author Kwak, Jeong-Hwan -
dc.contributor.author Hong, Dae-Han -
dc.contributor.author Kim, In-Hyuk -
dc.contributor.author Shin, Dong-Hwan -
dc.contributor.author An, Jinung -
dc.date.available 2017-05-11T01:39:25Z -
dc.date.created 2017-04-10 -
dc.date.issued 2012-10 -
dc.identifier.citation International Journal of Precision Engineering and Manufacturing, v.13, no.10, pp.1781 - 1788 -
dc.identifier.issn 2234-7593 -
dc.identifier.uri http://hdl.handle.net/20.500.11750/1617 -
dc.description.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. -
dc.language English -
dc.publisher Korean Society for Precision Engineering and Manufacturing -
dc.title Autonomous Terrain Adaptation and User-Friendly Tele-Operation of Wheel-Track Hybrid Mobile Robot -
dc.type Article -
dc.identifier.doi 10.1007/s12541-012-0234-9 -
dc.identifier.wosid 000309325100008 -
dc.identifier.scopusid 2-s2.0-84870490915 -
dc.type.local Article(Overseas) -
dc.type.rims ART -
dc.description.journalClass 1 -
dc.citation.publicationname International Journal of Precision Engineering and Manufacturing -
dc.identifier.kciid ART001701693 -
dc.contributor.nonIdAuthor Kim, Yoon-Gu -
dc.contributor.nonIdAuthor Kwak, Jeong-Hwan -
dc.contributor.nonIdAuthor Kim, In-Hyuk -
dc.identifier.citationVolume 13 -
dc.identifier.citationNumber 10 -
dc.identifier.citationStartPage 1781 -
dc.identifier.citationEndPage 1788 -
dc.identifier.citationTitle International Journal of Precision Engineering and Manufacturing -
dc.type.journalArticle Article -
dc.description.isOpenAccess N -
dc.subject.keywordAuthor Wheel-track hybrid -
dc.subject.keywordAuthor Terrain-adaptive -
dc.subject.keywordAuthor Intuitive steering -
dc.subject.keywordAuthor Mobile robot -
dc.subject.keywordAuthor Transformable structure -
dc.subject.keywordPlus LOCOMOTION -
dc.contributor.affiliatedAuthor Kim, Yoon-Gu -
dc.contributor.affiliatedAuthor Kwak, Jeong-Hwan -
dc.contributor.affiliatedAuthor Hong, Dae-Han -
dc.contributor.affiliatedAuthor Kim, In-Hyuk -
dc.contributor.affiliatedAuthor Shin, Dong-Hwan -
dc.contributor.affiliatedAuthor An, Jinung -

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