轮腿复合型移动机器人运动及构型控制的开题报告.docxVIP

轮腿复合型移动机器人运动及构型控制的开题报告

Title:MotionandConfigurationControlofaLeg-WheelHybridMobileRobot

Introduction:

Mobilerobotshavebecomeincreasinglypopularduetotheirabilitytoperformtasksindifferentenvironments.Leggedrobotshaveanadvantageinroughterrain,whilewheeledrobotsareefficientforsmoothsurfaces.However,combinationsofleggedandwheeledrobotsoffertheadvantagesofbothsystems.Therefore,thisprojectaimstodesignandcontrolaleg-wheelhybridmobilerobot.

Objectives:

Themainobjectivesofthisprojectareasfollows:

1.Designaleg-wheelhybridmobilerobotwiththeabilitytomoveonroughandsmoothterrains.

2.Developamotioncontrolstrategyfortherobottoperformdifferenttasks.

3.Implementandtestthecontrolstrategyontherobotprototype.

Methodology:

Theproposedrobotdesignwilluseafour-leggedmechanismwithintegratedwheels.Therobotwillhaveanadaptivesuspensionsystemtoadjustitsheightandprovidestability.Thelegsoftherobotwillbeusedforoff-roadmovement,whilethewheelswillbeusefulinsmoothterrain.

Formotioncontrol,wewilluseacombinationofreactiveandpre-plannedstrategies.Thereactivecontrolstrategywillusesensoryfeedbacktoavoidobstaclesandmaintainbalance,whilethepre-plannedstrategywillbeusedforlonger-termtasks.ThecontrolalgorithmswillbedevelopedusingROS(RobotOperatingSystem)andsimulatedbeforeimplementationontherobotprototype.

Results:

Themainoutcomeofthisprojectwillbealeg-wheelhybridmobilerobotprototypewiththeabilitytomoveondifferentterrains.Weaimtodemonstratetheeffectivenessofourcontrolstrategiesbyperformingtaskslikeobstacleavoidance,navigation,andobjectmanipulation.

Conclusion:

Thisprojectaimstodesignandcontrolaleg-wheelhybridmobilerobotthatcanefficientlyoperateindifferentenvironments.Byintegratinglegandwheelmechanismsintotherobotdesign,wehopetoach