根据任务需要, 研制了具有翻倒恢复功能的关节履带式移动机器人 构建了基于网络通信的遥操作系统, 通过人机交互界面

完成终端对移动机器人的遥控操作 鉴于履带式移动机器人开环控制的不足, 提出遥操作和局部自主控制的翻倒恢复控制方法 实验表

明, 提出的方法在移动机器人实际作业中有效可行-An articulated mobile robot which can turn it self over when t he robot is tipped in t he running is developed. The teleoperation

system based on web is designed to cont rol t he robot using human- computer interactive interface. In view of t he drawbacks of open- loop

cont rol for t racked robot s , locally autonomous cont rol and teleoperation are combined to fulfill t he overcoming obstacles. The example shows

t hat t he proposed met hod is effective for t he stated problem