Skating motion by a leg-wheeled robot with passive wheels
Skating motion by a leg-wheeled robot with passive wheels
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DOI：
10.1109/aim.2013.6584145
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发表时间：
2013-07
期刊：
影响因子：
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通讯作者：
K. Inagaki;Nurul Izzati binti Azlizan
中科院分区：
文献类型：
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作者：
K. Inagaki;Nurul Izzati binti Azlizan
本文提出了一种新型的移动的机器人，开发的基础上的想法，开发的机器人与减少的自由度（DOF）。DOF的数量越高意味着更多的致动器被固定到机器人上。这最终导致复杂的控制系统，以及影响机器人的能量效率。此外，更多的自由度只会增加机器人的总重量，这是一个缺点，因为轻型机器人更有可能适用。在本研究中，一个封闭的链接移动的机器人，减少主动关节的数量，而被动轮用于移动，以满足减少自由度的数量的目标。在本文中，我们将讨论减少自由度机器人的发展背后的原因，轨迹的机制，允许机器人通过滑冰移动，最后进行的实验结果。
This paper presents a new type of mobile robot that was developed based on the idea of developing a robot with reduced number of Degree of Freedom (DOF). The higher the number of DOF implies that more actuators are being fixed onto the robot. This eventually results in a complicated control system, as well as influencing the energy efficiency of the robot. Besides that, more DOF will only add up the total weight of the robot, which is a disadvantage because lightweight robot is more likely to be applicable. In this study where a closed link mobile robot was made, number of active joints was lessened, while passive wheels were used for mobility to meet the objective of reducing the number of DOF. In this paper, we will discuss on the reasons behind the development of a reduced DOF robot, the mechanism of trajectory that allows the robot to move by skating, and finally the results to the experiments conducted.