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System Design and Experimental Analysis of an All-environment Mobile Robot

  • Ziyi Guo
  • Yiduo Zhu
  • Meiling Wang
  • Tao LiEmail author
  • Hanbin Zhao
  • Linsen Xu
  • Marco Ceccarelli
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)

Abstract

Due to complexity of the structure, uncertainty of the dynamic model and poor adaptability of the environment of the traditional mobile robot, this paper proposes an all-environment mobile robot based on coaxial eight-rotor which can adapt to the three environments of water, land and air. This paper first describes the mechanical structure and hardware design of AEM (All-environment Mobile) robot, and then aerodynamics model and hydrodynamic model of the robot are formulated by Newton Euler equations. In the end, the physical prototype is assembled, and experiments are conducted to verify that the AEM robot could achieve the expected three motion modes.

Keywords

Robotics Mobile robots AEM robot Dynamic model 

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Ziyi Guo
    • 1
  • Yiduo Zhu
    • 1
  • Meiling Wang
    • 2
  • Tao Li
    • 2
    Email author
  • Hanbin Zhao
    • 2
  • Linsen Xu
    • 2
    • 3
  • Marco Ceccarelli
    • 4
  1. 1.University of Science and Technology of ChinaHefeiChina
  2. 2.Institute of Advanced Manufacturing Technology, Hefei Institutes of Physical Science, Chinese Academy of SciencesHefeiChina
  3. 3.Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot TechnologyHefeiChina
  4. 4.LARM2: Laboratory of Robot Mechatronics, Dept of Industrial EngineeringUniversity of Rome Tor VergataRomaItaly

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