콘텐츠 본문
논문 국내 국제전문학술지(SCI급) Design of a Transformable Wheel-Leg Mobile Robot for Improved Mobility
- 학술지 구분 국제전문학술지(SCI급)
- 게재년월 2021-03
- 저자명 오세웅,주현수,김현태,백한결, 김영식
- 학술지명 Transactions of the Korean Society of Mechanical Engineers, A
- 발행처명 Korean Society of Mechanical Engineers
- 발행국가 국내
- 논문언어 한국어
- 전체저자수 5
논문 초록 (Abstract)
In this study, we designed and fabricated a transformable wheel-leg robot that provides efficient mobility and obstacle overcoming under various structured and unstructured environments. The transformable wheel-leg is configured as a circular wheel on a flat surface and into the leg mode on rugged terrain for advanced mobility and terrain adaptability. Based on this goal, we analyzed the design parameters of the wheel-leg. A DC motor and gear mechanism were applied to realize transformation of the wheel and leg modes in the robot. Finally, experiments were performed to verify the improved obstacle overcoming capability.
