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Approaches to Development of Mechanical Design and Jumping Motion for a Wheeled Jumping Robot

Approaches to Development of Mechanical Design and Jumping Motion for a Wheeled Jumping Robot

Lyudmila Yurievna Vorochaeva, Sergey Igorevich Savin, Andrei Vasilievich Malchikov, Andres Santiago Martinez Leon
Copyright: © 2020 |Pages: 38
ISBN13: 9781522599241|ISBN10: 152259924X|ISBN13 Softcover: 9781522599258|EISBN13: 9781522599265
DOI: 10.4018/978-1-5225-9924-1.ch003
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MLA

Vorochaeva, Lyudmila Yurievna, et al. "Approaches to Development of Mechanical Design and Jumping Motion for a Wheeled Jumping Robot." Control and Signal Processing Applications for Mobile and Aerial Robotic Systems, edited by Oleg Sergiyenko, et al., IGI Global, 2020, pp. 52-89. https://doi.org/10.4018/978-1-5225-9924-1.ch003

APA

Vorochaeva, L. Y., Savin, S. I., Malchikov, A. V., & Martinez Leon, A. S. (2020). Approaches to Development of Mechanical Design and Jumping Motion for a Wheeled Jumping Robot. In O. Sergiyenko, M. Rivas-Lopez, W. Flores-Fuentes, J. Rodríguez-Quiñonez, & L. Lindner (Eds.), Control and Signal Processing Applications for Mobile and Aerial Robotic Systems (pp. 52-89). IGI Global. https://doi.org/10.4018/978-1-5225-9924-1.ch003

Chicago

Vorochaeva, Lyudmila Yurievna, et al. "Approaches to Development of Mechanical Design and Jumping Motion for a Wheeled Jumping Robot." In Control and Signal Processing Applications for Mobile and Aerial Robotic Systems, edited by Oleg Sergiyenko, et al., 52-89. Hershey, PA: IGI Global, 2020. https://doi.org/10.4018/978-1-5225-9924-1.ch003

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Abstract

This chapter is dedicated to tackling the issues related to the design and locomotion control of a hybrid wheeled jumping monitoring platform. The studied robot consists of a body mounted on a wheeled platform and of a jump acceleration module. An approach to making design decisions regarding the structure of the investigated robot is proposed. To select the kinematic structure of the robot, classifications of possible variants of hybrid jumping platforms and accelerating modules are presented. Methods for controlling the function of the accelerating modules and the analysis of their work is carried out. Various implementations of jumping motion are discussed; these implementations are characterized by different combinations of relative links movements during various stages of motion. Each of the proposed jump motion types requires the development of a control system, which is also discussed in this chapter.

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