Wheeled foot quadruped robot HITAN-I

Pengfei Wang; Lining Sun

Wheeled foot quadruped robot HITAN-I

Pengfei Wang^*
, Lining Sun

^*Corresponding author for this work

School of Mechatronics Engineering

Research output: Contribution to journal › Article › peer-review

4 Scopus citations

Abstract

In view of the robot running environment, the structure of wheeled foot and quadruped are adopted in this robot system, which combines the priorities of both wheeled robot and legged robot. Based on CAN bus, the two-class robot control system using multiple controllers and drivers is constructed. At the same time, serial inverse kinematics of swaying leg and parallel inverse kinematics of supporting legs are analyzed independently. The forward gait and turning gait are planned and experiment image is given at last.

Original language	English
Pages (from-to)	346-350
Number of pages	5
Journal	High Technology Letters
Volume	12
Issue number	4
State	Published - Dec 2006

Keywords

Control system
Gait planning
Robot
Wheeled foot

Cite this

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title = "Wheeled foot quadruped robot HITAN-I",

abstract = "In view of the robot running environment, the structure of wheeled foot and quadruped are adopted in this robot system, which combines the priorities of both wheeled robot and legged robot. Based on CAN bus, the two-class robot control system using multiple controllers and drivers is constructed. At the same time, serial inverse kinematics of swaying leg and parallel inverse kinematics of supporting legs are analyzed independently. The forward gait and turning gait are planned and experiment image is given at last.",

keywords = "Control system, Gait planning, Robot, Wheeled foot",

author = "Pengfei Wang and Lining Sun",

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language = "英语",

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journal = "High Technology Letters",

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AU - Wang, Pengfei

AU - Sun, Lining

PY - 2006/12

Y1 - 2006/12

N2 - In view of the robot running environment, the structure of wheeled foot and quadruped are adopted in this robot system, which combines the priorities of both wheeled robot and legged robot. Based on CAN bus, the two-class robot control system using multiple controllers and drivers is constructed. At the same time, serial inverse kinematics of swaying leg and parallel inverse kinematics of supporting legs are analyzed independently. The forward gait and turning gait are planned and experiment image is given at last.

AB - In view of the robot running environment, the structure of wheeled foot and quadruped are adopted in this robot system, which combines the priorities of both wheeled robot and legged robot. Based on CAN bus, the two-class robot control system using multiple controllers and drivers is constructed. At the same time, serial inverse kinematics of swaying leg and parallel inverse kinematics of supporting legs are analyzed independently. The forward gait and turning gait are planned and experiment image is given at last.

KW - Control system

KW - Gait planning

KW - Robot

KW - Wheeled foot

UR - https://www.scopus.com/pages/publications/33846401115

M3 - 文章

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SN - 1006-6748

VL - 12

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EP - 350

JO - High Technology Letters

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Wheeled foot quadruped robot HITAN-I

Abstract

Keywords

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