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dc.contributor.author Kim, Yoon-Gu ko
dc.contributor.author Kwak, Jeong-Hwan ko
dc.contributor.author Kwak, Jeong-Hwan ko
dc.contributor.author An, Jinung ko
dc.contributor.author Lee, Ki-Dong ko
dc.date.available 2017-07-11T08:16:32Z -
dc.date.created 2017-06-25 -
dc.date.issued 2010 -
dc.identifier.citation International Conference on Control, Automation and Systems, ICCAS 2010, pp.86 - 90 -
dc.identifier.isbn 9781424474530 -
dc.identifier.uri http://hdl.handle.net/20.500.11750/3957 -
dc.description.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. ©ICROS. -
dc.publisher Institute of Control, Robotics and Systems -
dc.title Adaptive driving mode control of mobile platform with wheel-track hybrid type for rough terrain in the civil environment -
dc.type Conference -
dc.identifier.scopusid 2-s2.0-78751562569 -
dc.type.rims CONF -
dc.contributor.nonIdAuthor Lee, Ki-Dong -
dc.identifier.citationStartPage 86 -
dc.identifier.citationEndPage 90 -
dc.identifier.citationTitle International Conference on Control, Automation and Systems, ICCAS 2010 -
dc.type.journalArticle Conference Paper -
dc.identifier.conferencecountry KO -
dc.identifier.conferencelocation Gyeonggi-do -
dc.contributor.affiliatedAuthor Kim, Yoon-Gu -
dc.contributor.affiliatedAuthor Kwak, Jeong-Hwan -
dc.contributor.affiliatedAuthor Kwak, Jeong-Hwan -
dc.contributor.affiliatedAuthor An, Jinung -
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