Title :
The optimization of obstacle-crossing and the simulation in ADAMS of the composite six-wheeled-legged robot
Author :
Wang, Weidong ; Wu, Dongmei ; Dong, Wei ; Xie, Chun ; Sun, Pengfei
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
This paper establishes the spatial kinematic model of the composite six-wheeled-legged robot according to its spatial motion, and simplifies the special motion postures so as to do the motion planning [1]. Furthermore, taking the slope obstacle as a typical example, it makes the analysis for the postures in the process of crossing the obstacle and optimizes the key postures in order to improve its obstacle negotiation capability to the safest and steadiest level. Then the analysis and optimization are verified by the simulation of the robot´s obstacle-crossing motion for the vertical obstacle, the ditch obstacle and the slope obstacle.
Keywords :
collision avoidance; mobile robots; motion control; optimisation; robot kinematics; ADAMS simulation; composite six-wheeled-legged robot; ditch obstacle; motion planning; obstacle negotiation capability; obstacle-crossing optimization; robot obstacle-crossing motion; safest level; slope obstacle; special motion postures; steadiest level; vertical obstacle; Legged locomotion; Optimization; Planning; Robot kinematics; Wheels; motion planning; obstacle crossing; optimization; simulation in ADAMS; six-wheeled-legged robot;
Conference_Titel :
Fuzzy Systems and Knowledge Discovery (FSKD), 2012 9th International Conference on
Conference_Location :
Sichuan
Print_ISBN :
978-1-4673-0025-4
DOI :
10.1109/FSKD.2012.6233733
