Software and Hardware control of a hybrid robot for switching between leg-type and wheel-type modes

Detalhes bibliográficos
Autor(a) principal: Botelho,Wagner Tanaka
Data de Publicação: 2011
Outros Autores: Okada,Tokuji, Mahmoud,Abeer, Shimizu,Toshimi
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Sba: Controle & Automação Sociedade Brasileira de Automatica
Texto Completo: http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592011000100002
Resumo: One of the objectives of the paper is to describe the hybrid robot PEOPLER-II (Perpendicularly Oriented Planetary Legged Robot) with regard to switching between leg-type and wheel-type. Our robot has an easier design and control system than other hybrid robots. The software and hardware control in the process of performing five robot tasks are considered. These are the walking, rolling, switching, turning and spinning. In the switching task, we show the control method based on minimization of total energycost. Also, the hardware components and their interconnections are described. The graphical user interfaces utilized in the simulation and experiment are demonstrated. The walking, rolling and the switching without reverse rotation and arm motion are verified in simulation and with real robot, in addition to turning and spinning.
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spelling Software and Hardware control of a hybrid robot for switching between leg-type and wheel-type modesMobile robotslegged robotswheeled robotshybrid robotsOne of the objectives of the paper is to describe the hybrid robot PEOPLER-II (Perpendicularly Oriented Planetary Legged Robot) with regard to switching between leg-type and wheel-type. Our robot has an easier design and control system than other hybrid robots. The software and hardware control in the process of performing five robot tasks are considered. These are the walking, rolling, switching, turning and spinning. In the switching task, we show the control method based on minimization of total energycost. Also, the hardware components and their interconnections are described. The graphical user interfaces utilized in the simulation and experiment are demonstrated. The walking, rolling and the switching without reverse rotation and arm motion are verified in simulation and with real robot, in addition to turning and spinning.Sociedade Brasileira de Automática2011-02-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592011000100002Sba: Controle & Automação Sociedade Brasileira de Automatica v.22 n.1 2011reponame:Sba: Controle & Automação Sociedade Brasileira de Automaticainstname:Sociedade Brasileira de Automática (SBA)instacron:SBA10.1590/S0103-17592011000100002info:eu-repo/semantics/openAccessBotelho,Wagner TanakaOkada,TokujiMahmoud,AbeerShimizu,Toshimieng2018-08-22T00:00:00Zoai:scielo:S0103-17592011000100002Revistahttps://www.sba.org.br/revista/PUBhttps://old.scielo.br/oai/scielo-oai.php||revista_sba@fee.unicamp.br1807-03450103-1759opendoar:2018-08-22T00:00Sba: Controle & Automação Sociedade Brasileira de Automatica - Sociedade Brasileira de Automática (SBA)false
dc.title.none.fl_str_mv Software and Hardware control of a hybrid robot for switching between leg-type and wheel-type modes
title Software and Hardware control of a hybrid robot for switching between leg-type and wheel-type modes
spellingShingle Software and Hardware control of a hybrid robot for switching between leg-type and wheel-type modes
Botelho,Wagner Tanaka
Mobile robots
legged robots
wheeled robots
hybrid robots
title_short Software and Hardware control of a hybrid robot for switching between leg-type and wheel-type modes
title_full Software and Hardware control of a hybrid robot for switching between leg-type and wheel-type modes
title_fullStr Software and Hardware control of a hybrid robot for switching between leg-type and wheel-type modes
title_full_unstemmed Software and Hardware control of a hybrid robot for switching between leg-type and wheel-type modes
title_sort Software and Hardware control of a hybrid robot for switching between leg-type and wheel-type modes
author Botelho,Wagner Tanaka
author_facet Botelho,Wagner Tanaka
Okada,Tokuji
Mahmoud,Abeer
Shimizu,Toshimi
author_role author
author2 Okada,Tokuji
Mahmoud,Abeer
Shimizu,Toshimi
author2_role author
author
author
dc.contributor.author.fl_str_mv Botelho,Wagner Tanaka
Okada,Tokuji
Mahmoud,Abeer
Shimizu,Toshimi
dc.subject.por.fl_str_mv Mobile robots
legged robots
wheeled robots
hybrid robots
topic Mobile robots
legged robots
wheeled robots
hybrid robots
description One of the objectives of the paper is to describe the hybrid robot PEOPLER-II (Perpendicularly Oriented Planetary Legged Robot) with regard to switching between leg-type and wheel-type. Our robot has an easier design and control system than other hybrid robots. The software and hardware control in the process of performing five robot tasks are considered. These are the walking, rolling, switching, turning and spinning. In the switching task, we show the control method based on minimization of total energycost. Also, the hardware components and their interconnections are described. The graphical user interfaces utilized in the simulation and experiment are demonstrated. The walking, rolling and the switching without reverse rotation and arm motion are verified in simulation and with real robot, in addition to turning and spinning.
publishDate 2011
dc.date.none.fl_str_mv 2011-02-01
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592011000100002
url http://old.scielo.br/scielo.php?script=sci_arttext&pid=S0103-17592011000100002
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1590/S0103-17592011000100002
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv text/html
dc.publisher.none.fl_str_mv Sociedade Brasileira de Automática
publisher.none.fl_str_mv Sociedade Brasileira de Automática
dc.source.none.fl_str_mv Sba: Controle & Automação Sociedade Brasileira de Automatica v.22 n.1 2011
reponame:Sba: Controle & Automação Sociedade Brasileira de Automatica
instname:Sociedade Brasileira de Automática (SBA)
instacron:SBA
instname_str Sociedade Brasileira de Automática (SBA)
instacron_str SBA
institution SBA
reponame_str Sba: Controle & Automação Sociedade Brasileira de Automatica
collection Sba: Controle & Automação Sociedade Brasileira de Automatica
repository.name.fl_str_mv Sba: Controle & Automação Sociedade Brasileira de Automatica - Sociedade Brasileira de Automática (SBA)
repository.mail.fl_str_mv ||revista_sba@fee.unicamp.br
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