proposal 开题报告.doc

High-performance Small-sized Hopping Robot for Complex Terrain Detecting Thesis Proposal Candidate Jixue Mo Supervisor Prof. Bing Li School of Mechanical Engineering and Automation Harbin Institute of Technology June 15th, 2016 INTRODUCTION On ground, animals use different types of locomotion such as walking, rolling, running, hopping and crawling. Mobile robots are usually constructed with wheels or legs to mimic the locomotion of animals. There is a variety of locomotion for mobile robots. The common locomotion types for mobile robots are wheels[1-3]. The wheels are simplest technique to implement mobility in a robot. This tactic is robust and simple as it can use only one actuator to drive the wheels. Wheels locomotion system easily failed when facing obstacles to overcome. The obstacle size of 1.5 times the wheel diameter can be overcame by using wheels locomotion[4]. The body hinges or expandable wheels design has been proposed to enable the robot to overcome large obstacles[5]. Tracks are also used by mobile robots that do not need high speed and precise movement but need to travel through rough terrain. Wheeled locomotion is limited to the obstacle size as compared to the robot body dimensions. Legs locomotion can also be used to move in uneven ground. The legs offer improved ground locomotion which is advantageous in rough terrain[6,7]. The legs locomotion designs are mechanically more multifaceted as compared to wheels locomotion and have more moving parts. The combination of wheels and legs is whegs locomotion which is used in[8-10]. Legs robots are restricted by obstacles height. The legs climbing robots climb gradually and are limited to relatively smooth ground; it is the main drawback of climbing robots. Ground obstacles can be overcame by using flying locomotion[11-14]. The flying locomotion is more expensive, as compared to legged or wh