THROO: a Tracked Hybrid Rover to Overpass Obstacles
THROO: a Tracked Hybrid Rover to Overpass Obstacles
复制标题
THROO：跨越障碍物的履带式混合动力车
DOI：
10.1080/01691864.2014.891949
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发表时间：
2014
影响因子：
2
通讯作者：
G. Castelli
中科院分区：
文献类型：
--
作者：
E. Ottaviano;P. Rea;G. Castelli
In this paper, the design, simulation and experimental tests are presented for THROO: a Tracked Hybrid Rover, which has been developed to Overpass Obstacles. The proposed mobile robot has 3-DOFs and it is capable of straight motion, turning ability and two operations, namely rover-like motion with tracks on flat terrain and walking-like motion with track and legs to overpass obstacles to move on uneven terrain. The leg mechanism is composed of a four-bar linkage, which has been synthesized according to the desired features. In particular, the Burmester problem, which aims at finding the geometric parameters of a four-bar linkage required for a prescribed set of finitely separated poses are solved for the case understudy. Dynamic simulations have been carried out and a prototype has been built. The proposed results show the hybrid rover ability to overpass obstacles, for which size is comparable or greater than the track high. Graphical Abstract The proposed hybrid rover THROO: (a) the built prototype; (b) mechanical design." below.
变轨四足行走机器人TITAN X的研制-腿部驱动机构设计及基础实验-
DOI：
--
发表时间：
2010
期刊：
影响因子：
--
作者：
Ryuichi Hodoshima;Yasuaki Fukumura;Hisanori Amano;Shigeo Hirose
通讯作者：
Shigeo Hirose
重新设计救援移动机器人Quince 应对2011年3月福岛第一核电站核事故的紧急响应
DOI：
--
发表时间：
2011
期刊：
影响因子：
--
作者：
Keiji Nagatani;Seiga Kiribayashi;Yoshito Okada;Satoshi Tadokoro;Takeshi Nishimura;Tomoaki Yoshida;Eiji Koyanagi;Yasushi Hada
通讯作者：
Yasushi Hada