TY - GEN
T1 - The mobility performances of new wheeled and legged hybrid mechanisms system robot iSRo
AU - Kuswadi, Son
AU - Sulistijono, Indra Adji
AU - Ardyansyah, Rachman
AU - Zulkarnain, Ahmad
AU - Avianto, Tiyo
AU - Imaduddin, Ilmi Rizki
AU - Luthfi, Achmad
AU - Saifulloh, Moh
AU - Jazidie, Achmad
AU - Sampei, Mitsuji
PY - 2009
Y1 - 2009
N2 - In rescue robot competition field, a robot needs to operate in various dynamic environments where they encounter a multitude of unknown both static and/or moving obstacles and targets. Hence, the robot should have high mobility performance to cope with this situation. Here, we propose a new robot hybrid mechanism that consists of wheeled and legged actuators. Based upon the designed mechanism, we derive 10 primitive motions. It is apparent that with this large number of primitive motions, the robot could achieve high mobility performances. We show such high performance by simulation and experiment.
AB - In rescue robot competition field, a robot needs to operate in various dynamic environments where they encounter a multitude of unknown both static and/or moving obstacles and targets. Hence, the robot should have high mobility performance to cope with this situation. Here, we propose a new robot hybrid mechanism that consists of wheeled and legged actuators. Based upon the designed mechanism, we derive 10 primitive motions. It is apparent that with this large number of primitive motions, the robot could achieve high mobility performances. We show such high performance by simulation and experiment.
KW - Hybrid mechanisms
KW - Mobility
KW - Parallel robot
KW - Rescue robot
UR - http://www.scopus.com/inward/record.url?scp=77951107008&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:77951107008
SN - 9784907764333
T3 - ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
SP - 2949
EP - 2954
BT - ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
T2 - ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
Y2 - 18 August 2009 through 21 August 2009
ER -