Octopus - An Autonomous Wheeled Climbing Robot
Octopus - An Autonomous Wheeled Climbing Robot
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章鱼 - 自主轮式攀爬机器人
DOI：
10.3929/ethz-a-010098355
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
R. Siegwart
中科院分区：
文献类型：
--
作者：
M. Lauria;Y. Piguet;R. Siegwart
介绍了一种新颖的越野轮式移动机器人Octopus，它能够自主处理崎岖地形中的障碍物而不会卡住。为了实现这样的性能，机器人配备了倾斜传感器和触觉轮子。八达通复杂的运动机制有8个电动轮子，总共15个自由度(其中14个是机动的)。提出了一种二维静态模型和控制器。控制器的输入是与地面的接触点、关节的几何角度和重力场的方向。控制器的输出是车轮的扭矩、前臂的扭矩和车身的位置设置点。
This paper presents an innovative off-road wheeled mobile robot, named Octopus, able to deal autonomously with obstacles in rough terrain without getting stuck. To achieve such a performance, the robot is equipped with tilt sensors and tactile wheels. The sophisticated locomotion mechanism of Octopus has 8 motorized wheels and a total of 15 degrees of freedom (14 of them are motorized). A two-dimensional static model and a controller are proposed. The inputs of the controller are the contact points with ground, the geometric angles of the articulations, and the direction of the gravity field. The outputs of the controller are the torques for the wheels, the torques for the forearms, and the position set point for the body.