Abstract
Hybrid mobile robots with two motion modes of a wheeled vehicle and truss structure with the ability to climb poles have significant flexibility. The motion planning of this kind of robot on a pole has been widely studied, but few studies have focused on the transition of the robot from the ground to the pole. In this study, a locomotion strategy of wheeled-legged pole-climbing robots (the WL_PCR) is proposed to solve the problem of ground-to-pole transition. By analyzing the force of static and dynamic process in the ground-to-pole transition, the condition of torque provided by the gripper and moving joint is proposed. The mathematical expression of Centre of Mass (CoM) of the wheeled-legged pole-climbing robots is utilized, and the conditions for the robot to smoothly transition from the ground to the vertical pole are proposed. Finally, the feasibility of this method is proved by the simulation and experimentation of a locomotion strategy on wheeled-legged pole-climbing robots.
Highlights
Wheeled-Legged Pole-ClimbingClimbing robots have significant potential applications in industry, which can be used to inspect and maintain large structures, such as dams [1], bridges [2], hulls [3], and large industrial boilers [4]
In order to solve this problem, this paper studies the mechanism of wheeled-legged robots and how the motion planning of hybrid motion contributes to the motion control scheme for the hybrid locomotion of wheeled-legged robots
Can complete the flip locomotion according to condition 5
Summary
Climbing robots have significant potential applications in industry, which can be used to inspect and maintain large structures, such as dams [1], bridges [2], hulls [3], and large industrial boilers [4]. The design method of hybrid legged/wheeled mobile robots is demonstrated, and the walking, rolling, gliding and skating motions were generated by the novel trajectory optimization formulation [8]. The PMP principle and dynamic programming (DP) method can be used to plan the optimal motion mode of robots [16]. For problems with complex phase constraints, the Hamiltonian method is usually difficult to set in practice These works generally focus on the nominal trajectory performance without considering possible uncertainties. We designed and developed a wheeled-legged pole-climbing robot named the WL_PCR. We used the sequential quadratic programming algorithm to do the force analysis of static and dynamic process, and a flip locomotion control scheme to determine its motion conditions.
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