Two Bioinspired Mobile Manipulators with Rolling Locomotion
Two Bioinspired Mobile Manipulators with Rolling Locomotion作者机构：School of Computing Science & Engineering University of Salford Manchester The Crescent M5 4WT UK School of Mechanical Engineering College of Engineering University of Tehran Tehran Iran
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2016年第13卷第1期
页 面：48-58页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0814[工学-土木工程] 082301[工学-道路与铁道工程] 0823[工学-交通运输工程]
主 题：bionics rolling robot quadruped robot Lagrange equations
摘 要：This paper deals with two novel structures for mobile robots. The original inspiration of the robots comes from a sala- mander and a specific kind of spiders. Our robots have some especial moving capabilities causing to increase the robot ma- neuverability. Indeed, the capability of rolling motion is added to ordinary quadruped robots. This capability causes increment in maneuvering of the robots. Manipulators can be embedded into the robots to add the ability of transferring materials into the shell and conducting some tasks such as repairing. In this paper, after analysis of motion principles of the rolling robots, their dynanlic equations are derived. Different simulations of two bioinspired mobile robots are presented in order to scrutinize various capabilities of the proposed designs. Walking capabilities of the robots and their advantages are discussed in detail. The comprehensive simulation results of the robots in various motion modes are presented. Finally the first prototype is introduced to verify the motion mechanisms.
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