An Overview on the Design of Mobile Robots with Hybrid Locomotion

Conduraru, Alina; Doroftei, Ioan; Conduraru, Ionel

doi:10.4028/www.scientific.net/amr.837.555

Cited by 13 publications

(6 citation statements)

References 16 publications

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“…Still, their motion mechanism must be built on a complicated control algorithm, which raises more complex computer configuration requirements. A novel configuration known as the wheel-leg complex mobile type platform [48] was created by fusing the fast speed of the wheeled type platform with the potent obstacle-surmounting abilities of the legged type platform. It has become a hub for UGV platform research because of its excellent mobility and adaptability.…”

Section: Research Status Of Ugv Platformmentioning

confidence: 99%

State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics

Yue

Zheng

et al. 2023

Robotica

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This article presents a review of the platform configuration and dynamic of obstacle-surmounting unmanned ground vehicles (UGVs). For now, unmanned systems have emerged as a result of the rapid advancement of artificial intelligence and modern manufacturing techniques both domestically and internationally. The research on unmanned systems has been improved a lot. The UGV platform can execute transportation, recurring, and military tasks independently. For the high-level self-control, adaption, and maneuverability abilities, the UGV platform has been applied in the military, industry, and other special fields widely. The UGV platform usually performs tasks in an unstructured environment, so the all-terrain performance becomes a key factor restricting their operating efficiency and reliability. A brief literature review of the UGV platform is carried out in this article.

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Section: Research Status Of Ugv Platformmentioning

confidence: 99%

State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics

Yue

Zheng

et al. 2023

Robotica

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“…To adapt to the terrain change in a complex terrain environment, the reconnaissance robot has the more complex structure. Three common structure categories exist: wheeled, crawler type, and leg type [ 13 , 14 ]. The wheeled mobile robot is fast with flexible control, but the capacity in overcoming obstacles is limited and its adaptability is poor [ 15 , 16 ].…”

Section: Land Part Structure Of the Air-ground Amphibious Reconnaissance Robotmentioning

confidence: 99%

Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure

Zhang

Sun

Pang

et al. 2021

Applied Bionics and Biomechanics

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According to the requirements of the reconnaissance robot for the ability to adapt to a complex environment and the in-depth study of the obstacle climbing mechanisms, a planetary wheel-leg-combined mechanism capable of adapting to complex terrains is proposed. According to the proposed planetary wheel-leg-combined mechanism, the land part of the air-ground amphibious reconnaissance robot is designed. Considering the obstacle and fast marching performance, four groups of combined wheel-leg mechanisms are adopted in the land bank. Under the action of three kinds of obstacles, the stability and the movement ability of the robot are analyzed by using the static method. The parameter model of the reconnaissance robot is built by a virtual prototype dynamics software MSC.ADMAS. The kinematic characteristic curves of each component and the whole prototype are obtained, which provides a theoretical basis for the design and numerical calculation of the robot structure. Finally, the climbing ability tests of the reconnaissance robot prototype verify the reliability and practicability of the body structure of the reconnaissance robot.

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“…The second type is a vehicle that combine features of different systems, e.g. a legged robot with driving wheels attached to the end of each leg, the legs providing active suspension and making it able to negotiate higher obstacles [12,13].…”

Section: Wheel-leg Architecture and Kinematicsmentioning

confidence: 99%

Design and Kinematic Aspects of a Hybrid Locomotion Robot

Slatineanu

Doroftei

Conduraru

2014

AMR

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Comparing to wheeled robots, legged ones are more flexible and mobile on difficult terrain, where wheeled robots cannot go. Wheels excel on flat surfaces or specially prepared surfaces, where wheeled robots are faster than legged machines. Also, wheeled platforms have simpler mechanical architecture and control algorithms. But they do not perform well when terrain is uneven, which is the case in real life, legged robots becoming more interesting to research and explore. Hybrid locomotion systems were developed to exploit the terrain adaptability of legs in rough terrain and simpler control as well as high speed associated with wheels. In this paper some information about the mechanical design and kinematics of a small hybrid locomotion robot are presented.

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An Overview on the Design of Mobile Robots with Hybrid Locomotion

Cited by 13 publications

References 16 publications

State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics

State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics

Obstacle Capability of an Air-Ground Amphibious Reconnaissance Robot with a Planetary Wheel-Leg Type Structure

Design and Kinematic Aspects of a Hybrid Locomotion Robot

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