Simulation of a Hybrid Locomotion Robot Vehicle

摘要

This study describes a simulation process of a mobile robot. The focus is in kinematic and dynamic behavior simulations of hybrid locomotion robot vehicles. This research is motivated by the development needs of the WorkPartner field service robot. The whole robot system consists of a mobile platform and a two-hand manipulator. The robot platform, called Hybtor, is a hybrid locomotion robot capable of walking and driving by wheels as well as combining these two locomotion modes. This study describes first the general problems and their solutions in the dynamic simulation of mobile robots. A kinematic and dynamic virtual model of the Hybtor robot was built and simulations were carried out using one commercial simulation tool. Walking, wheel driven and rolking mode locomotion, which is a special hybrid locomotion style, has been simulated and analyzed. Position and force control issues during obstacle overrun and climbing were also studied.