Evaluation of Locomotion Performances for a Mecanum-Wheeled Hybrid Hexapod Robot

Orozco-Magdaleno Ernesto C.; Gomez-Bravo Fernando; Castillo-Castaneda Eduardo; Carbone Giuseppe

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Evaluation of Locomotion Performances for a Mecanum-Wheeled Hybrid Hexapod Robot

机译：对Mechanum轮式杂交Hexapod机器人的运动表演的评估

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Recently, research on hybrid mobile robots has been attracting considerable interest due to the ability of these systems to perform service tasks in heterogeneous scenarios and irregular terrains. This article proposes a specific hybrid locomotion configuration, which combines legs and Mecanum omniwheels into a six-legged hexapod robot. Theoretical backgrounds and open issues are addressed by considering some challenging problems such as gait planning, modeling omnidirectional motion, and designing control architecture for combining locomotion modes. The article demonstrates suitability, feasibility, and successful performance of the proposed locomotion strategies and presents experimental results and novel scientific contributions regarding the motion of hybrid mobile robots.

机译：最近，由于这些系统在异构场景和不规则地形中执行服务任务的能力，对混合移动机器人的研究一直吸引了相当大的兴趣。本文提出了一种特定的混合动力车主动力配置，它将腿和麦盼UmniWheels结合到六足六腿的六角形机器人中。通过考虑一些具有挑战性的问题，如步态规划，建模的全点动运动和设计控制架构的组合用于组合运动模式的控制架构来解决理论背景和开放问题。本文展示了拟议的机置策略的适当性，可行性和成功表现，并提出了关于混合移动机器人的运动的实验结果和新颖的科学贡献。

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来源
《Mechatronics, IEEE/ASME Transactions on》 |2021年第3期|1657-1667|共11页
作者
Orozco-Magdaleno Ernesto C.; Gomez-Bravo Fernando; Castillo-Castaneda Eduardo; Carbone Giuseppe;
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作者单位

Natl Polytech Inst IPN Res Ctr Appl Sci & Adv Technol CICATA Queretaro Unit Queretaro 21620 Mexico;

Univ Huelva Dept Elect Engn Comp Syst & Automat Huelva 21004 Spain;

Natl Polytech Inst IPN Res Ctr Appl Sci & Adv Technol CICATA Queretaro Unit Queretaro 21620 Mexico;

Univ Calabria Dept Mech Energy & Management Engn DIMEG I-87036 Arcavacata Di Rende Italy|Belgorod State Technol Univ Belgorod Russia;

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正文语种 eng
中图分类
关键词
Legged locomotion; Robots; Wheels; Robot kinematics; Navigation; Servomotors; Robot sensing systems; Mobile robot kinematics; mobile robots; mobility and locomotion; robots;

机译：腿的运动;机器人;车轮;机器人运动学;导航;伺服电机;机器人传感系统;移动机器人运动学;移动机器人;移动机器人;机器人;

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1. Terrain classification and adaptive locomotion for a hexapod robot Qingzhui [J] . Yue ZHAO, Feng GAO, Qiao SUN, 机械工程前沿：英文版 . 2021,第002期
2. A control structure for the autonomous locomotion on rough terrain with a hexapod robot [J] . Chen Fu, Zang Xizhe, Yan Jihong, 高技术通讯（英文版） . 2010,第003期
3. A control structure for the autonomous locomotion on rough terrain with a hexapod robot [J] . Chen Fu, Zang Xizhe, Yan Jihong, 高技术通讯：英文版 . 2010,第003期
4. Adaptive Locomotion Control of a Hexapod Robot via Bio-Inspired Learning [J] . Wenjuan Ouyang, Haozhen Chi, Jiangnan Pang, Frontiers in Neurorobotics . 2021,第3期

机译：通过生物启发学习的六角形机器人的自适应运动控制
5. Terrain classification and adaptive locomotion for a hexapod robot Qingzhui [J] . Zhao Yue, Gao Feng, Sun Qiao, Frontiers of mechanical engineering . 2021,第2期

机译：地形分类和六角机器人的自适应运动Qingzhui
6. Trajectory adaptation of biomimetic equilibrium point for stable locomotion of a large-size hexapod robot [J] . Chen Chen, Zha Fusheng, Guo Wei, Autonomous robots . 2021,第1期

机译：大尺寸六角机器人稳定运动造型平衡点的轨迹改编
7. Development of hexapod tracked mobile robot and its hybrid locomotion with object-carrying [C] . Toyomi Fujita, Taiga Sasaki IEEE International Symposium on Robotics and Intelligent Sensors . 2017

机译：六脚履带式移动机器人的开发及其带对象的混合运动
8. Locomotion Performance of Hexapod Robots on Rough Substrates and the In?uence of Leg Compliance [D] . Bhattacharyya, Amartya. 2019

机译：粗基质上六足动物机器人的机置性能和腿部遵守的in？
9. Adaptive Locomotion Control of a Hexapod Robot via Bio-Inspired Learning [O] . Wenjuan Ouyang, Haozhen Chi, Jiangnan Pang, 2021

机译：通过生物启发学习的六角形机器人的自适应运动控制
10. Adaptive Locomotion Control of a Hexapod Robot via Bio-Inspired Learning [O] . Wenjuan Ouyang, Haozhen Chi, Jiangnan Pang, 2021

机译：通过生物启发学习的六角形机器人的自适应运动控制
11. Cockroach-Like Hexapod Robot for Natural Terrain Locomotion [R] . Beer, R. D. 1998

机译：用于自然地形运动的类似蟑螂的Hexapod机器人

Evaluation of Locomotion Performances for a Mecanum-Wheeled Hybrid Hexapod Robot

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