Kinematic Modeling of a Small Mobile Robot with Multi-Locomotion Modes

Author

Duan, Xingguang ; Huang, Qiang ; Rahman, Nasir ; Li, Jingtao ; Du, Qinjun

Author_Institution

Dept. of Mechatronics Eng., Beijing Inst. of Technol.

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

5582

Lastpage

5587

Abstract

The paper describes the kinematic modeling of a small wheel-track-legged mobile robot MOBIT which is targeted to applications in various hazardous environments to carry out military and civilian missions. The kinematic modeling for MOBIT has some individuality because of its multi-locomotion modes named wheeled, tracked, legged mode and obstacle negotiating mode. Different kinematics equations are derived based on its multi-locomotion modes respectively, and their features of kinematics in different modes are revealed. Particularly, the kinematic description of differential driven in wheeled mode, characteristics of slippage in tracked mode and posture definition in legged mode are presented mathematically. Unlike other robot operating on a flat surface, the proposed equations are solved to obtain the robot position and posture which can be used for autonomous motion control of robot operating in rough terrains

Keywords

collision avoidance; legged locomotion; motion control; robot kinematics; MOBIT; autonomous motion control; differential driven robots; hazardous environments; kinematic modeling; multi-locomotion modes; obstacle negotiating mode; posture definition; rough terrains; slippage; small mobile robots; wheel-track-legged robots; Control systems; Equations; Kinematics; Machine vision; Mobile robots; Monitoring; Robot sensing systems; Sensor systems; Vehicles; Wheels; kinematic; mobile robot; multi-locomotion modes;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282276

Filename

4059320