@inproceedings{425a25a9ee0640e9ba394aca738e2a5c,
title = "Adaptive driving mode control of mobile platform with wheel-track hybrid type for rough terrain in the civil environment",
abstract = "Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.",
keywords = "Adaptive driving mode, Angle of attack, Transformable track, Wheel-track hybrid",
author = "Kim, \{Yoon Gu\} and Kwak, \{Jeong Hwan\} and Jinwook Kim and Jinung An and Lee, \{Ki Dong\}",
year = "2010",
language = "English",
isbn = "9781424474530",
series = "ICCAS 2010 - International Conference on Control, Automation and Systems",
pages = "86--90",
booktitle = "ICCAS 2010 - International Conference on Control, Automation and Systems",
note = "International Conference on Control, Automation and Systems, ICCAS 2010 ; Conference date: 27-10-2010 Through 30-10-2010",
}