지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2013.10
- 수록면
- 316 - 319 (4page)
이용수
초록· 키워드
오류제보하기
The stabile metric of the mobile robots is uncommon in mobile robotics even though stability is important issue for a mobile robot to do its work. Therefore, it is difficult to compare stability of mobile robots on the rough terrain. This paper suggests the stability metric for wheel linkage mobile robots to compare robot’s stability on a rough terrain. The stability metric contain the limit height change, the limit angle change, and the height change of the center of mass of a robot when it overcomes a threshold. Well-known wheel linkage mobile robots are unified to compare their stability, and simulations are performed to calculate the robots stability. Base on the comparison, the new linkage mobile robot called “RHyMo” was suggested, and its stability also calculated. The RHyMo has lowest S.M. value, so that the robot has high stability on the rough terrain.
목차
Abstract
1. INTRODUCTION
2. THE STABLITY METRIC
3. THE STABILITY OF WHEEL LINKAGE MOBILE ROBOTS
4. THE STABILE LINKAGE MECHANISM
5. CONCLUSION
REFERENCES
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