A Hybrid Wheel-Leg Transformable Robot with Minimal Actuator Realization

Liu, Zhengtao1,2; Dai, Cunxi1,2; Liu, Xiaohan1,2; Zhou, Jianxiang1,2; Jia, Zhenzhong1,2

10.1109/ICARM54641.2022.9959370

2022

7th IEEE International Conference on Advanced Robotics and Mechatronics

978-1-6654-8307-0

2022 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2022)

731-736

JUL 09-11, 2022

null,Guilin,PEOPLES R CHINA

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Wheel-leg transformable robots have great overall performance in various terrains by taking full advantage of both locomotion modalities. However, they tend to have much more complicated designs and actuators than single-mode robots. This paper proposes a wheel-leg transformable robot design with minimal actuator realization. To this end, we design a novel wheel-leg transformable module that uses tendon-driven mechanism for motion mode switching of each module, and a tendon network that uses a single actuator to control all tendons for mode switching of the entire robot. Hence, a N-legged robot only needs N + 1 actuators. To validate our design, we build an experiment platform, develop associated control algorithms, and conduct both simulation and field experiments over flat ground and rough terrains such as stairs and obstacles.

Actuators Mechatronics Switches Stairs Control systems Mobile robots Tendons

第一 ; 通讯

英语

CPCI-S

Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS20200811143601004]

Automation & Control Systems ; Engineering ; Robotics

Automation & Control Systems ; Engineering, Electrical & Electronic ; Robotics

WOS:000926398000119

Web of Science

1.Southern Univ Sci & Technol SUSTech, Dept Mech & Energy Engn, Shenzhen Key Lab Biomimet Robot & Intelligent Sys, Shenzhen 518055, Peoples R China
2.SUSTech, Guangdong Prov Key Lab Human Augmentat & Rehabil, Shenzhen 518055, Peoples R China

Liu, Zhengtao,Dai, Cunxi,Liu, Xiaohan,et al. A Hybrid Wheel-Leg Transformable Robot with Minimal Actuator Realization[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2022:731-736.