...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>International Journal of Precision Engineering and Manufacturing >FlipBot: A new field robotic platform for fast stair climbing
【24h】

FlipBot: A new field robotic platform for fast stair climbing

机译：FlipBot：用于快速爬楼梯的新型现场机器人平台

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Artificial structures such as stairs and bumps in roads are critical features that robotic platforms must overcome. Many robotic platforms have been developed for climbing stairs and for overcoming obstacles. However, the agility and maneuverability of the robotic platforms are not yet satisfactory. We propose a new field robot platform design that can climb various sizes of stairs as fast as human beings. The locomotion of the robotic platform is similar to the flipping (or tumbling) locomotion of humans, so we name the robot “FlipBot.” The main body is composed of a tread-wheel mechanism. A supporting leg performs flipping locomotion during stair climbing while the tread-wheel generates the driving force on flat surfaces. Design parameters are optimized using the Taguchi methodology for stable climbing on various sizes of stairs based on kinematic relations. The assembled robot prototype can climb three different sizes of stairs around 1 step per second, which is generally as fast as human walking. We expect the proposed robot platform to be applied to inspection and service robotic applications in indoor environments.
机译：诸如楼梯和道路颠簸之类的人工结构是机器人平台必须克服的关键特征。已经开发出许多用于爬楼梯和克服障碍物的机器人平台。但是，机器人平台的敏捷性和可操作性尚不令人满意。我们提出了一种新的现场机器人平台设计，该平台可以像人类一样快地爬上各种尺寸的楼梯。机器人平台的运动类似于人类的翻转（或翻滚）运动，因此我们将机器人命名为“ FlipBot”。主体由胎轮机构组成。支撑脚在爬楼梯期间执行翻转运动，而踏轮在平坦表面上产生驱动力。使用Taguchi方法对设计参数进行优化，以基于运动学关系在各种尺寸的楼梯上稳定爬升。组装好的机器人原型可以以大约1步/秒的速度爬上三种不同大小的楼梯，这通常与人类行走的速度一样快。我们希望拟议中的机器人平台可用于室内环境中的检查和维修机器人应用。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号