A Study on the Modeling of Independently Driven Quadruped Crawler System for Posture Control of Special Purpose Machine for Disaster Response

재난 대응용 특수목적기계의 자세제어를 위한 독립구동 4족 크롤러 시스템 모델링에 대한 연구

  • 하지우 (한양대학교 융합시스템학과) ;
  • 김상호 (한양대학교 대학원 기계공학과) ;
  • 이용석 (한양대학교 대학원 기계공학과) ;
  • 선동익 (한양대학교 융합시스템학과) ;
  • 장성훈 ((주)로하우 기업부설연구소) ;
  • 한창수 (한양대학교 ERICA 로봇공학과)
  • Published : 2016.12.01




Grant : 독립 구동 및 자세제어가 가능한 험지 주행시스템 개발

Supported by : 산업통상자원부(MOTIE, Korea)


  1. Retrieved November 10, 2016, EM-DAT, http://www.emdat.be/disaster_trends/index.html
  2. S. W. Lee, S. H. Kim and S. H. Jung, "Development Status about overcoming domestic disasters and life-saving robot technology," J. of the Korean Society for Robot and Human, Vol.4, No.2, pp.19-26, 2007.
  3. K. Turker, I. Sharf and M. Trentini, "Step Negotiation with Wheel Traction: A Strategy for a Wheel-legged Robot," Robotics and Automation (ICRA), 2012 IEEE International Conference on. IEEE, 2012.
  4. A. Alamdari, R. Herin and V. Krovi, "Quantitative kinematic performance comparison of reconfigurable leg-wheeled vehicles." 2013.
  5. R. C. Luo, M. Hsiao, T. W. Lin, "Erect wheel-legged stair climbing robot for indoor service applications." 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2013.
  6. J. M. Jehanno, A. Cully, C. Grand and J. B. Mouret, "Design of a Wheel-Legged Hexapod Robot for Creative Adaptation." CLAWAR 17th International Conference on Climbing and Walking Robots. 2014.
  7. C. Zheng, J. Liu, T. E. Grift, Z. Zhang, T. Sheng, J. Zhou, Y. Ma and M. Yin, "Design and analysis of a wheel-legged hybrid locomotion mechanism." Advances in Mechanical Engineering, Vol.7, No.11, 2015.
  8. C. Grand, F. BenAmar and F. Plumet, "Stability control of a wheel-legged mini-rover." Proc. of CLAWAR. Vol. 2. 2002.
  9. K. Nagano and Y. Fujimoto, "A control method of low speed wheeled locomotion for a wheel-legged mobile robot." 2014 13th IEEE International Workshop on Advanced Motion Control. IEEE, 2014.
  10. A. Bouton, C. Grand and F. BenAmar, "Motion control of a compliant wheel-leg robot for rough terrain crossing." Robotics and Automation (ICRA), 2016 IEEE International Conference on. IEEE, 2016.