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地面移动机器人系统的研究现状与关键技术
引用本文:王鹏飞,孙立宁,黄博.地面移动机器人系统的研究现状与关键技术[J].机械设计,2006,23(7):1-4.
作者姓名:王鹏飞  孙立宁  黄博
作者单位:哈尔滨工业大学,机器人研究所,黑龙江,哈尔滨,150001
基金项目:国家高技术研究发展计划(863计划);黑龙江省科技攻关项目
摘    要:在总结了地面移动机器人系统的概念、特点、组成结构的基础上,分析了该领域国内外的最新动态及其关键技术,为多运动方式地面移动机器人的进一步设计与开发提供了翔实的信息与参考依据。最后,提出了一种新颖的足轮混合式地面移动机器人系统,根据不同的环境变换轮式运动和足式运动两种运动方式,达到良好的运动灵活性和较高的移动速度的统一。

关 键 词:地面移动机器人  驱动控制  多运动方式
文章编号:1001-2354(2006)07-0001-04
收稿时间:2005-11-10
修稿时间:2006-01-18

Present situation and key technology of ground mobile robot system
WANG Peng-fei,SUN Li-ning,HUANG Bo.Present situation and key technology of ground mobile robot system[J].Journal of Machine Design,2006,23(7):1-4.
Authors:WANG Peng-fei  SUN Li-ning  HUANG Bo
Affiliation:Robotics Institute, Harbin Polytechnic University, Harbin 150001, China
Abstract:On the basis of summing-up the concept,characteristics and composing structures of ground mobile robot system,the latest trends of this field at home and abroad and its key technology were analyzed,thus provided detailed and accurate information and referencing basis for the further design and development of multi-movement patterned ground mobile robot.Finally,a kind of novel foot and wheel mix-patterned ground mobile robot system was put forward in this paper.Either of the two kinds of motion mode,the wheeled motion mode and the footed motion mode,can be adopted in accordance with different environments so as to reach the unity in both good motion flexibility and rather high moving speed.
Keywords:ground mobile robot  driving control  multi-movement mode
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