Performance evaluation of locomotion modes of an hybrid wheel-legged robot for self-adaptation to ground conditions
Performance evaluation of locomotion modes of an hybrid wheel-legged robot for self-adaptation to ground conditions
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发表时间：
2004
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通讯作者：
F. B. Amar;Christophe Grand;G. Besseron;F. Plumet
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作者：
F. B. Amar;Christophe Grand;G. Besseron;F. Plumet
为了使机器人的运动参数适应地面条件，对冗余度o路机器人的运动模式进行了性能评价。针对不同的机械地形参数，研究了各种运动方式的稳定性、可梯度性和能耗等评价指标。该评价框架以准静态运动方程为基础，包含了大地力学的基本概念。
This study deals with performance evaluation of locomotion modes of a redundant o-road robot in order to adapt the locomotion parameters to ground conditions. Evaluation criterion which are stability, gradeability and energy consumption of each locomotion mode are studied for dierent mechanical terrain parameters. The proposed evaluation framework is based on quasi-static motion equations and includes basic concepts of Terramechanics.