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Lywal: a Leg-Wheel Transformable Quadruped Robot with Picking up and Transport Functions
- Source :
- ICRA
- Publication Year :
- 2021
- Publisher :
- IEEE, 2021.
-
Abstract
- This paper introduces a leg-wheel transformable quadruped robot named Lywal which can switch to the leg-mode and the wheel-mode for locomotion, and the claw-mode for picking up and transport functions. First, the mechanical structure of Lywal is designed by using an innovative 2-DoF transformable mechanism. Second, the calculation of kinematics is analyzed in detail. Then, the switching-mode strategy and the mobile control strategies in different modes are designed. Finally, the prototype of Lywal is built. The properties of the mobile modes are analyzed, and the picking-up and transport functions of the claw-mode are verified through physical experiments.
Details
- Database :
- OpenAIRE
- Journal :
- 2021 IEEE International Conference on Robotics and Automation (ICRA)
- Accession number :
- edsair.doi...........5aee64cf04453f0173e2073f38058bfb