Modeling and Control of a Small Mobile Robot with Multi-Locomotion Modes

In this paper we describes the kinematic and dynamic control modeling of a small wheel-track-legged mobile robot MOBIT which is targeted to applications in various hazardous environments to carry out military and civilian missions. The models for MOBIT have some individuality because of its multi-locomotion modes named wheeled, tracked, legged mode. Different kinematics and dynamic control equations are derived based on its multi-locomotion modes respectively, and their features in different modes are revealed. Particularly, the modeling description of differential driven in wheeled mode, characteristics of slippage in tracked mode and posture definition in legged mode are presented mathematically. By using the Routh method, the dynamic control model is established. Unlike other robot operating on a flat surface, the proposed equations are solved to obtain the robot position, posture and its dynamic characteristics that can be used for autonomous motion control of robot operating with different locomotion modes in rough terrains

[1]  Sungchul Kang,et al.  Double-track mobile robot for hazardous environment applications , 2001, Adv. Robotics.

[2]  Georges Bastin,et al.  Structural properties and classification of kinematic and dynamic models of wheeled mobile robots , 1996, IEEE Trans. Robotics Autom..

[3]  Sungchul Kang,et al.  ROBHAZ-DT3: teleoperated mobile platform with passively adaptive double-track for hazardous environment applications , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[4]  Hugh F. Durrant-Whyte,et al.  Estimation of track-soil interactions for autonomous tracked vehicles , 1997, Proceedings of International Conference on Robotics and Automation.

[5]  François Michaud,et al.  AZIMUT, a leg-track-wheel robot , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[6]  Gaurav S. Sukhatme,et al.  A portable, autonomous, urban reconnaissance robot , 2000, Robotics Auton. Syst..

[7]  Wyatt S. Newman,et al.  Stabilization of a mobile robot climbing stairs , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[8]  김문상,et al.  ROBHAZ-DT3 : Teleoperated Mobile Platform with Passively Adaptive double track for Hazardous Environment Applications , 2004 .

[9]  Xingguang Duan,et al.  DESIGN AND MOTION ANALYSIS OF MINIATURE WHEEL-TRACK-LEGGED MOBILE ROBOT , 2005 .

[10]  Stergios I. Roumeliotis,et al.  Multi-sensor, high speed autonomous stair climbing , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[11]  A. Halme,et al.  Development of WorkPartner-robot – design of actuating and motion control system , 1999 .

[12]  D. Voth.  A new generation of military robots , 2004, IEEE Intelligent Systems.

[13]  Kazuhito Yokoi,et al.  Balance control of a piped robot combining off-line pattern with real-time modification , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[14]  Alessandro De Luca,et al.  Trajectory tracking control of a four-wheel differentially driven mobile robot , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).