Traction Control for a Rocker-Bogie Robot with Wheel-Ground Contact Angle Estimation

2006 ◽  
pp. 682-690 ◽  
Author(s):  
Mongkol Thianwiboon ◽  
Viboon Sangveraphunsiri
Keyword(s):  
Contact Angle ◽  
Ground Contact ◽  
Angle Estimation ◽  
Traction Control

Visual Contact Angle Estimation and Traction Control for Mobile Robot in Rough-Terrain

2013 ◽  
Vol 74 (3-4) ◽  
pp. 985-997 ◽  
Author(s):  
He Xu ◽  
Xing Liu ◽  
Hu Fu ◽  
Bagus Bhirawa Putra ◽  
Long He
Keyword(s):  
Contact Angle ◽  
Mobile Robot ◽  
Rough Terrain ◽  
Visual Contact ◽  
Angle Estimation ◽  
Traction Control

Minimum Jerk Traction Control of a Wheeled Mobile Robot Moving Over a Hump

1999 ◽  
Author(s):  
A. Ayalew ◽  
E. Lai ◽  
S. O. Oyadiji
Keyword(s):  
New Technique ◽  
Ground Contact ◽  
Loss Of Control ◽  
Dynamic Effects ◽  
Wheeled Mobile Robots ◽  
Traction Control ◽  
Uneven Terrain ◽  
Minimum Jerk ◽  
Simulation Results ◽  
A New Technique

Abstract A new technique is presented for the minimization of jerk for wheeled mobile robots (WMRs) traveling on uneven terrain. A robot may jerk as it traverses a road obstacle. Consequently, wheel-ground contact loss is one of the undesirable dynamic effects that can cause loss of control and robot instability. By considering the dynamics of the robot with respect to the longitudinal, pitching and vertical motions of the platform, the new technique calculates the dynamic compensation needed to ideally counter the onset of jerk by controlling the magnitude of the input drive torque to the wheels. Simulation results showed that the technique has the potential to substantially reduce the magnitude of jerk of a WMR during longitudinal maneuver over a road obstacle with a positive gradient.

CO2 geo-sequestration modeling study for contact angle estimation in ternary systems of brine, CO2, and mineral

2021 ◽  
Vol 283 ◽  
pp. 124662
Author(s):  
Xinpo Sun ◽  
Yuzhang Bi ◽  
Yi Guo ◽  
Mahdi Ghadiri ◽  
Samira Mohammadinia
Keyword(s):  
Contact Angle ◽  
Ternary Systems ◽  
Angle Estimation ◽  
Modeling Study
Sign in / Sign up

Export Citation Format

Share Document