Abstract
In this study an innovative parameterized water-bomb wheel modeling method based on recursive solving are introduced, significantly reducing the modeling workload compared to traditional methods. A multi-link supporting structure is designed upon the foundation of the water-bomb wheel model. The effectiveness of the supporting structure is verified through simulations and experiments. For robots equipped with this water-bomb wheel featuring the multi-link support, base on the kinematic model of multi-link structure, a mapping algorithm that incorporates parameterized kinematic solutions and IMU-fused parameterized odometry is proposed. Based on this algorithm, SLAM and autonomous navigation experiments are carried out in simulation environment and real environment respectively. Compared with the traditional algorithm, this algorithm the precision of SLAM is enhanced, achieving high-precision SLAM and autonomous navigation with a robot error rate below 5%.
Publisher
Public Library of Science (PLoS)
Reference36 articles.
1. Trends in the control of hexapod robots: a survey[J].;J Coelho;Robotics,2021
2. Mechanism design of a transformable crawling robot and feasibility analysis for the unstructured environment[C]//Actuators.;J Yuan;MDPI,2022
3. Development and Application of Origami in Space Structure [J].;Shiyi LIU;Spacecraft Recovery & Remote Sensing,2020
4. Algorithmic spatial form-finding of four-fold origami structures based on mountain-valley assignments[J];C Lu;Journal of Mechanisms and Robotics,2024
5. The least symmetric crystallographic derivative of the developable double corrugation surface: Computational design using underlying conic and cubic curves[J].;P. Sareh;Materials & Design,2019