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도심지형 최적주행을 위한 휠ㆍ무한궤도 하이브리드형 모바일 로봇 플랫폼 및 메커니즘

Title
도심지형 최적주행을 위한 휠ㆍ무한궤도 하이브리드형 모바일 로봇 플랫폼 및 메커니즘
Translated Title
Wheel &Track Hybrid Mobile Robot Platform and Mechanism for Optimal Navigation in Urban Terrain
Authors
김윤구김진욱곽정환홍대한이기동안진웅
DGIST Authors
안진웅
Issue Date
2010-09
Citation
로봇학회 논문지, 5(3), 270-277
Type
Article
Keywords
Robot platformOff-road navigationTransformable trackHybrid drivingTrack arm
ISSN
1975-6291
Abstract
Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.
URI
http://hdl.handle.net/20.500.11750/5701
Publisher
한국로봇학회
Related Researcher
Files:
There are no files associated with this item.
Collection:
Convergence Research Center for Wellness1. Journal Articles


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