TY - GEN
T1 - The kinematic model, motion planning and analysis for obstacle negotiation capability of the composite six-wheeled-legged robot
AU - Wang, Weidong
AU - Xie, Chun
AU - Wu, Dongmei
AU - Dong, Wei
AU - Du, Zhijiang
PY - 2011
Y1 - 2011
N2 - This paper establishes the spatial kinematic model of the six-wheeled-legged robot by combining its spatial motion. In the process of the robot's crossing the obstacle, the position of its centroid determines whether the robot can cross the obstacle successfully or not, so the paper establishes the spatial kinematic model and the kinematic model of the centroid, and furthermore, simplifies the model for different typical postures so as to do the motion planning[1] and the analysis for obstacle negotiation capability of the vertical obstacle, the ditch obstacle and the slope obstacle.
AB - This paper establishes the spatial kinematic model of the six-wheeled-legged robot by combining its spatial motion. In the process of the robot's crossing the obstacle, the position of its centroid determines whether the robot can cross the obstacle successfully or not, so the paper establishes the spatial kinematic model and the kinematic model of the centroid, and furthermore, simplifies the model for different typical postures so as to do the motion planning[1] and the analysis for obstacle negotiation capability of the vertical obstacle, the ditch obstacle and the slope obstacle.
UR - https://www.scopus.com/pages/publications/84860778394
U2 - 10.1109/ROBIO.2011.6181484
DO - 10.1109/ROBIO.2011.6181484
M3 - 会议稿件
AN - SCOPUS:84860778394
SN - 9781457721373
T3 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
SP - 1391
EP - 1396
BT - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
PB - IEEE Computer Society
T2 - 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Y2 - 7 December 2011 through 11 December 2011
ER -