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VDM Verlag Motion Planning Strategies for IMPASS: Study of a Novel High Mobility Robotic Platform

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Description

IMPASS is a novel spoke-wheel robot invented byresearchers at the Robotics and Mechanisms Lab(RoMeLa) at Virginia Tech. The robot is driven by arimless spoke wheel which can alter the length of anygiven spoke in the hub. This form of novel locomotioncombines the efficiency of a wheeled robot and themobility of a legged robot, arriving at a verypractical mobility platform. A highly mobile robotsuch as IMPASS could prove very valuable inapplications where the terrain is complex anddangerous, such as search and rescue, reconnaissance,or anti-terror response. A prototype has beenconstructed that effectively demonstrates theactuated spoke wheel concept using two wheelscontaining six spokes each. Manually controlling themotion of two wheels and twelve spokes would be adaunting task for any operator. Due to this inherentcomplexity, automated motion control is a necessityfor the IMPASS platform. The work presented here willdiscuss approaches to the motion planning problem forthe two-dimensional sagittal plane. In addition tothe theory behind the algorithms, the work will alsopresent results from testing in simulation and on anIMPASS prototype.

Product Specifications

Format
paperback
Domain
Amazon UK
Release Date
03 April 2009
Listed Since
17 April 2009

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