Development of a Mobile Robot with Wavy Movement by Rotating Bars

Development of a Mobile Robot with Wavy Movement by Rotating Bars
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旋转杆波浪运动移动机器人的研制

DOI：
10.1299/jsmec.47.218
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
H. Tsukagoshi
H. Tsukagoshi
中科院分区：
--
文献类型：
--
作者：
A. Kitagawa;L. Zhang;Taka Eguchi;H. Tsukagoshi

文献摘要

被引文献

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本文提出了一种具有称为波浪运动的新型运动的移动机器人。通过许多以相同速度旋转的杆或十字可以很容易地实现波浪运动，并且该机器人结构简单、控制方法容易，能够通过在接触点之间的单独的波浪形状内覆盖楼梯的拐角来上下楼梯。讨论了该机器人的波浪运动原理、机构和实验结果。
A mobile robot with a new type of movement called wavy movement is proposed in this paper. Wavy movement can be readily realized by many bars or crosses which are rotating at equivalent speeds, and the robot with simple structure and easy control method is able to ascend and descend stairs by covering the corners of stairs within separate wave shapes between touching points. The principle of wavy movement, the mechanism, and the experimental result of the proposed robot are discussed.