菜单
  

    a step, the  robot  is  equipped  with  an ultrasonic range
    sensor.  The sensor head is attached at the tip of  an arm
    that  rotates  around the  vertical  axis  on  the  body.  The
    altitude of  the terrain around the robot  is measured by  the
    sensor. Control  is  performed  by  a personal computer.
    The whole control system is shown in Fig.3. In order to
    proyide the command  to the  robot,  the control system is
    equipped with a command controller. Operator can give
    four analog and six digital signals to the computer as the
    control commands.
    4.  Locomotion algorithm
    Walk’n  Roll  has  several locomotion modes  by
    selecting wheeled function or legged function.
    4.1 Wheel mode
    In  this mode,  four wheels  are used  for  locomotion,
    and fast and efficient locomotion is realized on relatively
    flat terrain.  Rear wheels  are driven, and front wheels
    are free and perform steering action.  When front wheel
    is positioned  just bellow  the first joint, steering action  is
    done by  controlling the first joint  only.  The other  two
    joints and rear legs can be used as active suspension. Next,  we  consider relation  between  steering angle
    and  wheel  driving.  Now  we  consider a situation  as
    shown in Fig.4.  We set a coordinate system fixed to the
    robot body, and its x-axis is moving direction and the y-
    axis is a  line  connecting two rear  wheels.  A  wheeled
    vehicle whose front wheels perform steering action has a
    turning center  on  the line connecting rear  wheels.  In
    this figure, 81 and  82 denote the steering angle.  When
    the coordinate of  the turning center is  r, 81  and  82 are
    calculated as following equations.
    e, =  tan-'(a/(r-b>)
    e, =  tan-'{a/(r+b))
    Here, a is wheel base, and b is half of  front wheel  tread.
    A ratio of travelling distances of two rear wheels m/w4 is
    given by next equation.
    w,/w, =(r-c)/(r+c)  (3)
    Here,  c  is  half  of  rear  wheel  tread.  Above  analysis is
    done  when  the turning center  is  outside  of  the  robot.
    However,  It is possible  for  the  robot  to  turn with  the
    turning  center inside  of  two  rear  wheels  as  shown in
    Fig.5. Obtained results are  the  same  as equations  (1)-
    (3).  It should be noticed that steering and wheel driving
    directions  are  different in  both  sides.  When  absolute
    value of  r is smaller than  c, wheel driving directions are
    different each other.  In  the case  of  the steering, the
    directions  are  different when  the absolute value  of  r  is
    smaller than b. 4.2 Hybrid mode
    In this mode,  front passive wheels  are  locked, and
    front two legs  are  used  to  walk.  This  mode is
    cooperative  locomotion  of  front legs  and  rear driving
    wheels.  Two merits appear by using front legs to walk.
    One is traction.  When  the  robot moves  by  the  wheel
    mode,  traction is generated only rear  wheels.  In the
    hybrid mode, a front leg drags  the robot body during  its
    support phase. Traction is generated  at  all  the contact
  1. 上一篇:压电式力和力矩传感器英文文献和中文翻译
  2. 下一篇:反击式破碎机英文文献和中文翻译
  1. 电-气动驱动的垂直计算机...

  2. 移动破碎英文文献和中文翻译

  3. 移动机器人英文文献和中文翻译

  4. 四轮全方位移动机器人英文文献和翻译

  5. java+mysql车辆管理系统的设计+源代码

  6. 杂拟谷盗体内共生菌沃尔...

  7. 酸性水汽提装置总汽提塔设计+CAD图纸

  8. 十二层带中心支撑钢结构...

  9. 乳业同业并购式全产业链...

  10. 电站锅炉暖风器设计任务书

  11. 河岸冲刷和泥沙淤积的监测国内外研究现状

  12. 大众媒体对公共政策制定的影响

  13. 当代大学生慈善意识研究+文献综述

  14. 中考体育项目与体育教学合理结合的研究

  

About

751论文网手机版...

主页:http://www.751com.cn

关闭返回