Idea of wheel-legged robot and its control system design

Bulletin of the Polish Academy of Sciences. Technical Sciences

J. SzrekDivision of Machine Theory and Mechatronical Systems, Wroclaw University of Technology, 7/9 ?ukasiewicza St., 50-370 Wroc?aw, PolandOther articles by this author:De Gruyter OnlineGoogle Scholar¹  P. WójtowiczRobosystem.pl Group, Aktiwa.NET, 16B Litewska St., 51-354 Wroc?aw, PolandOther articles by this author:De Gruyter OnlineGoogle Scholar² 

[1] Division of Machine Theory and Mechatronical Systems, Wroclaw University of Technology, 7/9 ?ukasiewicza St., 50-370 Wroc?aw, Poland;Robosystem.pl Group, Aktiwa.NET, 16B Litewska St., 51-354 Wroc?aw, Poland

关键词: Keywords: wheel-legged robot;    control system design;   

DOI  :  10.2478/v10175-010-0004-8

学科分类：工程和技术（综合）

来源: Polska Akademia Nauk * Centrum Upowszechniania Nauki / Polish Academy of Sciences, Center for the Advancement of Science

【 摘 要 】

The wheel-legged robot is a vehicle with many degrees of freedom. Thanks to its peculiar design, depending on the need, the vehicle will use one of its ways of moving: travelling on wheels or walking (in special situations), which enhances its locomotive properties. The paper presents the robot's kinematic wheel suspension system, general operation strategy and control system. The application responsible for robot control and data visualization is described. Finally, selected tests of the algorithms, carried out on the robot prototype, are presented.

【 授权许可】

Unknown