Open AccessMathematical modelling of a search and rescue robot with TriSTAR locomotion units
Author(s) -
Marton Gyarmati,
Mihai Olimpiu Tătar
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/997/1/012077
Subject(s) - robot locomotion , robot , search and rescue , computer science , robot control , rescue robot , simulation , mobile robot , artificial intelligence , engineering , control engineering
In this paper the authors present the mathematical model of a search and rescue robot with hybrid locomotion system. The robot uses a locomotion system with two TriSTAR units and two conventional wheels. Details are also presented regarding the design of the robot and the TriSTAR locomotion unit, the robot locomotion and the robot actuation and control.