Abstract
High mobility is always a very important feature of mobile robots, highly depending on locomotion modes. Integrating multiple locomotion modes will provide robot with better mobility and higher adaptability to a variety of terrain. Therefore, how to integrate multiple locomotion modes in one robot has been an interesting and important issue. In this paper, a miniature robot with at least three locomotion modes: wriggling like a caterpillar, winding like a snake and biped walking, is presented. The study describes how such a non-wheeled mobile robot can possess different locomotion modes, and moreover, how the transition between them can be implemented. The feasibility and effectiveness of the different modes, as well as transition among them are illustrated with some simple experiments.
The work in this paper is partially supported by the Key Research and Development Program of Guangdong Province (Grant No. 2019B090915001) and the Program of Foshan Innovation Team of Science and Technology (Grant No. 2015IT100072).
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Ye, W., Chen, J., Guan, Y., Zhu, H. (2020). A Miniature Robot with Changeable Multiple Locomotion Modes. In: Chan, C.S., et al. Intelligent Robotics and Applications. ICIRA 2020. Lecture Notes in Computer Science(), vol 12595. Springer, Cham. https://doi.org/10.1007/978-3-030-66645-3_9
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DOI: https://doi.org/10.1007/978-3-030-66645-3_9
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