OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot

doi:10.1109/IROS47612.2022.9982030

	OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot
	Cao, Ruixiang; Gu, Jun; Yu, Chen; Rosendo, Andre
	2022
会议录名称	IEEE INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS
ISSN	2153-0858
卷号	2022-October
页码	5626-5631
发表状态	已发表
DOI	10.1109/IROS47612.2022.9982030
摘要	This paper presents the design, analysis, and performance evaluation of an omnidirectional transformable wheel-leg robot called OmniWheg. We design a novel mechanism consisting of a separable omni-wheel and 4-bar linkages, allowing the robot to transform between omni-wheeled and legged modes smoothly. In wheeled mode, the robot can move in all directions and efficiently adjust the relative position of its wheels, while it can overcome common obstacles in legged mode, such as stairs and steps. Unlike other articles studying whegs, this implementation with omnidirectional wheels allows the correction of misalignments between right and left wheels before traversing obstacles, which effectively improves the success rate and simplifies the preparation process before the wheel-leg transformation. We describe the design concept, mechanism, and the dynamic characteristic of the wheel-leg structure. We then evaluate its performance in various scenarios, including passing obstacles, climbing steps of different heights, and turning/moving omnidirectionally. Our results confirm that this mobile platform can overcome common indoor obstacles and move flexibly on the flat ground with the new transformable wheel-leg mechanism, while keeping a high degree of stability. © 2022 IEEE.
会议录编者/会议主办者	et al. ; HERO Lab. ; LionsBot ; Sony ; Technology Innovation Institute (TII) ; VisionNav
关键词	Machine design Robots Analysis evaluation Design Analysis Design evaluation Design performance Omni-wheel Omnidirectional movement Omnidirectional wheel Performances evaluation Transformable wheel Wheel-leg
会议名称	2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
会议地点	Kyoto, Japan
会议日期	October 23, 2022 - October 27, 2022
URL	查看原文
收录类别	EI
语种	英语
出版者	Institute of Electrical and Electronics Engineers Inc.
EI入藏号	20230313406217
EI主题词	Wheels
EISSN	2153-0866
EI分类号	601 Mechanical Design ; 601.2 Machine Components ; 731.5 Robotics
原始文献类型	Conference article (CA)
来源库	IEEE
引用统计	正在获取...
文献类型	会议论文
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/282077
专题	信息科学与技术学院_硕士生信息科学与技术学院_PI研究组_ANDRE LUIS MACEDO ROSENDO SILVA组信息科学与技术学院_本科生
作者单位	School of Information Science and Technology, ShanghaiTech University, Shanghai, China
第一作者单位	信息科学与技术学院
第一作者的第一单位	信息科学与技术学院
推荐引用方式 GB/T 7714	Cao, Ruixiang,Gu, Jun,Yu, Chen,et al. OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot[C]//et al., HERO Lab., LionsBot, Sony, Technology Innovation Institute (TII), VisionNav:Institute of Electrical and Electronics Engineers Inc.,2022:5626-5631.