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Design, construction, and testing of a new class of mobile robots for cave exploration

机译：新型洞穴探险移动机器人的设计，建造和测试

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摘要

This paper introduces a novel mobile robot design concept aimed at exploration of subterranean spaces. The key innovation is the combination of highly maneuverable-body elements with wheel/leg elements (ldquowhegsrdquo). This combination offers performance not possible with conventional ldquomonolithicrdquo wheeled or tracked mobile robots, or with current robot snakes. The paper covers two design iterations of the concept, concentrating on describing the overall design process and results from initial tests.

机译：本文介绍了一种新颖的移动机器人设计概念，旨在探索地下空间。关键创新是高度可操纵的车身元素与车轮/腿元素（ldquowhegsrdquo）的结合。这种组合提供了常规的轮式或履带式移动机器人或当前的机器人蛇无法实现的性能。本文涵盖了该概念的两次设计迭代，重点描述了整个设计过程和初始测试的结果。

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来源
《Mechatronics, 2009. ICM 2009》|2009年|1-6|共6页
会议地点 Malaga(ES);Malaga(ES)
作者
Siles I.; Walker I.D.;
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作者单位

Dept. of Mech. Eng., Clemson Univ., Clemson, SC;

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会议组织
原文格式 PDF
正文语种
中图分类
关键词
control system synthesis; mobile robots; cave exploration; design iterations; mobile robot design; monolithic wheeled robots; robot snakes; subterranean spaces; wheel-leg elements; Cave robot; biologically inspired robots; exploration; subterranean; whegs;

机译：控制系统综合;移动机器人;洞穴探索;设计迭代;移动机器人设计;整体轮式机器人;机器人蛇;地下空间;轮腿元素;洞穴机器人;生物启发机器人;探索;地下;机器人;

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专利

1. A novel reactive navigation strategy for mobile robots based on chaotic exploration and TTM self-construction [J] . Xiaolei Yu, Zhimin Zhao Compel . 2011,第2期

机译：基于混沌探索和TTM自构的移动机器人反应导航新策略
2. Autonomous Exploration and Map Construction of a Mobile Robot Based on the TGHM Algorithm [J] . Nature reviews Cancer . 2020,第2期

机译：基于TGHM算法的移动机器人的自主探索与地图构造
3. Experimental Tests of 'Bidi-bot': A Mechanism Designed for Clearing Loose Debris from the Path of Mobile Search and Rescue Robots [J] . Robert C. Richardson, Arjun Nagendran, Robin G. Scott Advanced Robotics: The International Journal of the Robotics Society of Japan . 2012,第15期

机译：“ Bidi-bot”的实验测试：一种从移动搜索和救援机器人的路径中清除松散碎片的机制
4. Design, Construction, and Testing of A New Class of Mobile Robots for Cave Exploration [C] . Ivan Siles, Ian D. Walker IEEE International Conference on Mechatronics . 2009

机译：用于洞穴勘探新类移动机器人的设计，施工和测试
5. Design, construction, and testing of a new class of mobile robots. [D] . Siles Yuste, Ivan. 2009

机译：新型移动机器人的设计，建造和测试。
6. Autonomous Exploration and Map Construction of a Mobile Robot Based on the TGHM Algorithm [O] . Shuang Liu, Shenghao Li, Luchao Pang, 2020

机译：基于TGHM算法的移动机器人自主探索与地图构建。
7. Design, Construction, and Testing of A New Class of Mobile Robots for Cave Exploration [O] . Ivan Siles, Ian D. Walker 2010

机译：新型探洞移动机器人的设计，建造和测试

Design, construction, and testing of a new class of mobile robots for cave exploration

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