地面移动机器人系统的研究现状与关键技术  

Present situation and key technology of ground mobile robot system

作　　者：王鹏飞[1] 孙立宁[1] 黄博[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《机械设计》2006年第7期1-4,共4页Journal of Machine Design

基　　金：国家"863"高科技资助项目(2004AA420110);黑龙江省重点攻关项目(GB04A502)

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。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.

关 键 词：地面移动机器人 驱动控制 多运动方式 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]