A WHEEL-LEGGED HEXAPOD ROBOT ADAPTED TO LUNAR TERRAIN

Kai Cao,∗ Jiajun Xu,∗ Tongzhen Ren,∗ Ping Zhang,∗ Xuefei Liu,∗ Juanxia Zhou,∗ Zhennan Tang,∗ Zhiwei Yu,∗ and Aihong Ji∗

References

  1. [1] Z. Pei, J. Liu, Q. Wang, Y. Kang, Y. Zou, H. Zhang, Y.Zhang, Overview of lunar exploration and international lunarresearch station, Kexue Tongbao/Chinese Science Bulletin,65(24), 2020, 2577–2586.
  2. [2] C. Lv, X. Fan, and M. Sun, A fusion algorithm for path planningof mobile robots in environments with dynamic obstacles,International Journal of Robotics and Automation, 39(2), 2024,94–105.
  3. [3] R. Singh and T. K. Bera, Navigation model for four-wheelmobile robot: A bond graph and robot operating systemapproach, International Journal of Robotics and Automation,36(5), 2021, 283–291.
  4. [4] S. Peng, Y.Q. Ma, X. C. Xu, Y. Jia, and S.C. Liu, A novelprecise pose prediction algorithm for setting the sleeping forsetting of the Yutu-2 rover based on a multiview block bundleadjustment, Robotica, 40(11), 2022, 3837–3862.
  5. [5] C. Angle, Genghis, a six legged autonomous walking robot,BSc Thesis in Electrical and Computer Science, MIT, May,1989.
  6. [6] P. Arm, R. Zenkl, P. Barton, L. Beglinger, A. Dietsche, L.Ferrazzini, E. Hampp, J. Hinder, C. Huber, D. Schaufelberger,and F. Schmitt, SpaceBok: A dynamic legged robot for spaceexploration, in Proceeding IEEE International Conference15on Robotics and Automation (ICRA), Montreal, QC, 2019,6288–6294.
  7. [7] K. C. Ramanathan, D. Ganapathy, J. A. Dhanraj, and M.Mohan, Design and development of 6 dof bipedal robotand its walking gaits, International Journal of Robotics andAutomation, 36(1), 2021, 44–52.
  8. [8] D. Chen, Y. Xu, Y. Song, M. Xin, L. Wu, A. Kong, H. Wang,P. Dai, and H. Yu, A bionic walking wheel for enhancedtrafficability in paddy fields with muddy soil. Biomimetics,9(2), 2024, 68.
  9. [9] Y. J. Shen, G. R. Chen, Z. Y. Li, N. Z. Wei, H. F. Lu, Q.Y. Meng, and S. Guo, Cooperative control strategy of wheel-legged robot based on attitude balance, Robotica, 41(2), 2023,566–586.
  10. [10] Anonymous, ATHLETE low-gravity testbed. NASA TechBriefs, 38(4), 2014, 56.
  11. [11] F. Cordes, F. Kirchner, and A. Babu, Design and field testingof a rover with an actively articulated suspension system in aMars analog terrain, Journal of Field Robotics, 35(7), 2018,1149–1181.
  12. [12] M. Schwarz, M. Beul, D. Droeschel, T. Klamt, C. Lenz, D.Pavlichenko, T. Rodehutskors, M. Schreiber, N. Araslanov,I. Ivanov, J. Razlaw, S. Sch¨uller, D. Schwarz, A. Topalidou-Kyniazopoulou, and S. Behnke, DRC team NimbRo rescue:Perception and control for centaur-like mobile manipu-lation robot momaro, in The Darpa Robotics ChallengeFinals: Humanoid Robots to The Rescue, Cham, Springer,2018.
  13. [13] N. Yue, C. Li, L. Han, and Y. Zhang, Scheme design ofmodular wheel-legged lunar robot, Manned Spaceflight 25(5),2019, 667–672.
  14. [14] K. Xu and X. L. Ding, Typical gait analysis of a six-legged robot in the context of metamorphic mechanism theory,Chinese Journal of Mechanical Engineering, 26(4), 2013,771–783.
  15. [15] W. Wang, Design of Lunar Rover Semi-Step Walking WheelModeled on Impeller, Dalian University of Technology, Dalian,2012.
  16. [16] R. Zhang, H. Pang, Q. Ji, G. Li, W. Dong, L. Wen, andJ. Li, Structure design and traction trafficability analysis ofmulti-posture wheel-legs bionic walking wheels for sand terrain,Journal of Terramechanics, 91, 2020, 31–43.
  17. [17] K. Zhang, Research on Adhesive Ability ofLunarcrter Rover Wheel, Harbin Institute of Technology,Harbin, 2018.
  18. [18] G. Chen, N. Wei, J. Li, and H. Lu, Design and simulationanalysis of a bionic ostrich robot. Biomechanics and Modelingin Mechanobiology, 21(6), 2022, 1781–1801.
  19. [19] H. Pang, R. Zhang, F. Liu, C. Wang, W. Dong, T. Li, andJ. Li, 3D DEM analysis on tractive trafficability of a lunarrover wheel with bionic wheel lugs. Rendiconti Lincei. ScienzeFisiche e Naturali, 32(2), 2021, 377–387.
  20. [20] H. Pang, H. Zhang, R. Zhang, W. Dong, T. Li, S. Ma, andJ. Li, Design of the bionic wheel surface based on the frictioncharacteristics of ostrich planta. Rendiconti Lincei. ScienzeFisiche e Naturali, 32(1), 2021, 1–13.
  21. [21] R. Zhang, Q. Ji, S. Zhang, and J. Li, Bionic design anddynamics performance simulation of walking wheel to travelon sand, Transactions of the Chinese Society of AgriculturalEngineering, 32(15), 2016, 26–31.
  22. [22] Q. Ji, Research in Bionic Walking Wheel of Multi-PostureCasters Basedon Kinematic Characteristics of Ostrich Toes,Jilin University, Changchun, 2018.
  23. [23] G. Liu, Mechanical Test and Analysis of Wheel-Soil Interctionof Lunar Rover, Harbin Institute of Technology, Harbin, 2010.
  24. [24] B. Chen, Research on Traction Characteristics of theRigid Wheel with Grousers on Sandy Soil, Jilin University,Changchun, 2007.
  25. [25] G. Yin and J. Wang, Kinematics analysis of 6-DOF robot,Mechanical Engineer, 1, 2021, 25–28.
  26. [26] Z.Y. Wang, X.L. Ding, and A. Rovetta, Analysis of typicallocomotion of a symmetric hexapod robot, Robotica, 28, 2010,893–907.
  27. [27] X. Huang, M. Zhang, X. Zhang, X. Li, and J. Zhang, ImprovedDH method to build robot coordinate system, Transactions ofthe Chinese Society for Agricultural Machinery, 45(10), 2014,313.
  28. [28] J.-L. He, J.-L. Luo, P.-S. Huan, and J. Deng, Workspaceanalysis of 7-DOF humanoid robotic arm based on Monte Carlomethod, Modular Machine Tool & Automatic ManufacturingTechnique (China), 3, 2015, 48–51.
  29. [29] R. Wang, Y. Zhu, Y. Ma, and C. Huang, Hill-climbingperformance analysis and gait selection of hexapod robot,Modern Manufacturing Technology and Equipment, 7, 2018,26–28+31.

Important Links:

Go Back