Intelligent Mobility Platform with Active Spoke System

具有主动辐条系统的智能移动平台

• 批准号: 0535012
• 负责人: Dennis Hong
• 金额: --
• 依托单位: Virginia Polytechnic Institute and State University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2005
• 资助国家: 美国
• 起止时间: 2005-07-01 至 2010-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0535012&HistoricalAwards=false
• 关键词: Intelligent; Mobility; Platform; Active; Spoke

This project explores a novel high mobility locomotion system concept for unstructured environments. The Intelligent Mobility Platform with Active Spoke System (IMPASS) utilizes rimless wheels with individually actuated spokes to provide the ability to step over large obstacles like legs, adapt to uneven surfaces like tracks, yet retaining the speed and simplicity of wheels. Since this system lacks the complexity of legs and has a large effective (wheel) diameter, this highly adaptive system can move over extreme terrain with ease while maintaining respectable travel speeds, and thus has great potential for search-and-rescue missions, scientific exploration, and anti-terror response applications. This research project will research, demonstrate and evaluate this novel concept with a focus on studying the issues of mobility, intelligent motion planning, and design. The intellectual merits of the proposed activities lie in the development of an original concept of a new type of high mobility locomotion system and an improved understanding of mobility and intelligent motion planning issues. The broader impacts of this research include the many important application areas of the high mobility system enabled by extending human reach capabilities into unknown and hazardous environments. This effort will integrate research with education and promote teaching and learning by integrating the prototype design into the two-semester undergraduate senior design project. The robot prototypes developed will be demonstrated to the public at the FIRST robotic competitions and at local high schools to promote interest in science and engineering.

该项目探索了一种适用于非结构化环境的新型高机动性运动系统概念。带有主动轮辐系统 (IMPASS) 的智能移动平台采用带有独立驱动轮辐的无轮辋车轮，能够跨过腿部等大型障碍物，适应轨道等不平坦的表面，同时保持车轮的速度和简单性。由于该系统缺乏腿的复杂性并且具有较大的有效（轮）直径，因此这种高度自适应的系统可以轻松地在极端地形上移动，同时保持可观的行驶速度，因此在搜救任务、科学探索等方面具有巨大的潜力和反恐响应应用。该研究项目将研究、演示和评估这一新颖概念，重点研究移动性、智能运动规划和设计问题。拟议活动的智力优点在于开发了新型高机动性运动系统的原创概念，并提高了对机动性和智能运动规划问题的理解。这项研究的更广泛影响包括通过将人类到达未知和危险环境的能力扩展到高机动性系统的许多重要应用领域。这项工作将把研究与教育结合起来，通过将原型设计融入到两个学期的本科生高级设计项目中来促进教学和学习。开发的机器人原型将在 FIRST 机器人竞赛和当地高中向公众展示，以提高人们对科学和工程的兴趣。