摘要
针对楼宇内的移动监视和非结构化环境 ,研究了一种可重组的“履带—关节”机器人结构 ,通过模块化组合 ,它以很小的体积 (每个模块长 30cm ,宽 11.5cm ,高 11cm) ,获得了爬越楼梯的能力 .本文分析了履带机构爬越楼梯的原理 ,并实验论证了各种组合结构的地形适应性和移动能力 .
A modularized reconfigurable pedrail is designed for movable surveillance and unstructured environment of buildings. The robot can climb stairs by being recomposed to a little bulk(each module is 30cm long, 11.5cm wide and 11cm high). The principle for the tracked robot to climb stairs is analyzed in this paper and its moving ability and adaptability for various landforms is also proved by experiments.
出处
《机器人》
EI
CSCD
北大核心
2004年第5期400-403,共4页
Robot
关键词
爬楼梯
模块化
重组
履带
stair climbing
modularization
recomposition
pedrail
