机械制造与自动化Issue(3)：141-144,4.
新型轮腿配合式排水管道检测机器人控制系统设计
Control System Design of New Kind of Water-pipe Robot with Legs and Wheels
摘要
Abstract
This papei designs a new kind of in-pipe robot with legs and wheels, which has some advantages of high moving speed by wheel driving and good environment adaptation by leg driving. Tyiis robot can move stably by the gravity shift system when it moves by leg driving. The whole control system includes microcontroller hardware of main engine, software structure ol mobile carrier and CCD camera.关键词
轮腿机器人/重心偏移/控制系统/单片机Key words
robot with legs and wheels/ gravity shift/ control system/ microcontroller分类
机械制造引用本文复制引用
高宏,黄民,李天剑,肖晶晶,韩春茂..新型轮腿配合式排水管道检测机器人控制系统设计[J].机械制造与自动化,2011,(3):141-144,4.基金项目
北京信息科技大学校基金(1025008) （1025008）
