Mobile robot concept with walking wheels made of rotary segments
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24220%2F17%3A00004497" target="_blank" >RIV/46747885:24220/17:00004497 - isvavai.cz</a>
Result on the web
<a href="http://xplorestaging.ieee.org/ielx7/7960134/7970353/07970467.pdf?arnumber=7970467" target="_blank" >http://xplorestaging.ieee.org/ielx7/7960134/7970353/07970467.pdf?arnumber=7970467</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/CarpathianCC.2017.7970467" target="_blank" >10.1109/CarpathianCC.2017.7970467</a>
Alternative languages
Result language
angličtina
Original language name
Mobile robot concept with walking wheels made of rotary segments
Original language description
Crossing over obstacles or riding up in steep terrain is still not completely solved problem in wheeled-mobile robotics. This paper describes a concept of four-wheeled mobile robot with unique patented wheels made of rotary segments. Rotation of segments changes the surface of wheels from normal wheel for movement on roads or flat ground to wheels for movement in terrain, over obstacles or upstairs. For control of walking-wheels a drive stored in an aluminium frame was build. The drive allows to set its shaft into two position. One for control of movement of the drive and second for control of opening and closing of wheel segments. Current feedback regulator is in the frame of drive. PLC with smart device controller (SDC) structure is used for control of the mobile robot. It allows to control drives without specialized motion control units. The main goal of this paper is to describe a mechanical construction of this mobile robot, its drives and basics of software motion control for further testing of mobile robot wheels on different terrains in different environments.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2017 18th International Carpathian Control Conference, ICCC 2017
ISBN
978-150904862-5
ISSN
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e-ISSN
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Number of pages
5
Pages from-to
583-587
Publisher name
IEEE
Place of publication
Sinaia
Event location
Palace HotelSinaia; Romania
Event date
Jan 1, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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