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Abstract: Aiming at the moving requests of the miniature mobile robot
under the environment of indoors and outdoors, a miniature
track-wheel-legged mobile robot with multiple moving modes such as
wheeled, tracked and legged locomotion is presented. The moving
characters, obstacle negotiation capability and self-reposition function
of the robot are analyzed in details. The embedded control system is
adopted to ensure the robot to be with low power consuming, good
reliability and high real-time character. The experiment results show
that the mobile robot has high mobility, good environmental adaptability
and obstacle negotiation ability.
Key words: Mobile robot Moving character Locomotion mode
Obstacle negotiation Reposition
CLC No: TP24
国家“863”高科技资助项目(2002AA420110).
Received 20050113, received in revised form 20050427
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