Beschreibung
Produktdetails
Einband
Taschenbuch
Erscheinungsdatum
25.10.2013
Verlag
VDMSeitenzahl
108
Maße (L/B/H)
22/15/0,7 cm
Gewicht
180 g
Sprache
Englisch
ISBN
978-3-639-13318-9
IMPASS is a novel spoke-wheel robot invented by
researchers at the Robotics and Mechanisms Lab
(RoMeLa) at Virginia Tech. The robot is driven by a
rimless spoke wheel which can alter the length of any
given spoke in the hub. This form of novel locomotion
combines the efficiency of a wheeled robot and the
mobility of a legged robot, arriving at a very
practical mobility platform. A highly mobile robot
such as IMPASS could prove very valuable in
applications where the terrain is complex and
dangerous, such as search and rescue, reconnaissance,
or anti-terror response. A prototype has been
constructed that effectively demonstrates the
actuated spoke wheel concept using two wheels
containing six spokes each. Manually controlling the
motion of two wheels and twelve spokes would be a
daunting task for any operator. Due to this inherent
complexity, automated motion control is a necessity
for the IMPASS platform. The work presented here will
discuss approaches to the motion planning problem for
the two-dimensional sagittal plane. In addition to
the theory behind the algorithms, the work will also
present results from testing in simulation and on an
IMPASS prototype.
researchers at the Robotics and Mechanisms Lab
(RoMeLa) at Virginia Tech. The robot is driven by a
rimless spoke wheel which can alter the length of any
given spoke in the hub. This form of novel locomotion
combines the efficiency of a wheeled robot and the
mobility of a legged robot, arriving at a very
practical mobility platform. A highly mobile robot
such as IMPASS could prove very valuable in
applications where the terrain is complex and
dangerous, such as search and rescue, reconnaissance,
or anti-terror response. A prototype has been
constructed that effectively demonstrates the
actuated spoke wheel concept using two wheels
containing six spokes each. Manually controlling the
motion of two wheels and twelve spokes would be a
daunting task for any operator. Due to this inherent
complexity, automated motion control is a necessity
for the IMPASS platform. The work presented here will
discuss approaches to the motion planning problem for
the two-dimensional sagittal plane. In addition to
the theory behind the algorithms, the work will also
present results from testing in simulation and on an
IMPASS prototype.
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