Octopus - An Autonomous Wheeled Climbing Robot

This paper presents an innovative off-road wheeled mobile robot, named Octopus, able to deal autonomously with obstacles in rough terrain without getting stuck. To achieve such a performance, the robot is equipped with tilt sensors and tactile wheels. The sophisticated locomotion mechanism of Octopus has 8 motorized wheels and a total of 15 degrees of freedom (14 of them are motorized). A two-dimensional static model and a controller are proposed. The inputs of the controller are the contact points with ground, the geometric angles of the articulations, and the direction of the gravity field. The outputs of the controller are the torques for the wheels, the torques for the forearms, and the position set point for the body.


Presented at:
None
Year:
2002
Keywords:
Note:
Published by Professional Engineering Publishing Limited, Bury St Edmunds and London, UK
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 Record created 2006-12-07, last modified 2018-01-27

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