Analysis And Simulation Of The Feasibility Of A Self-deformable Reconfigurable Multi-mode Obstacle-crossing Mobile Robot

2020 ◽  
Author(s):  
An Ping ◽  
Chunyan Zhang
Keyword(s):  
Mobile Robot ◽  
Obstacle Crossing ◽  
Multi Mode

scholarly journals Study on Roller-Walker – Multi-mode Steering Control and Self-Contained Locomotion –

2000 ◽  
Vol 12 (5) ◽  
pp. 559-566 ◽  
Author(s):  
Gen Endo ◽  
◽  
Shigeo Hirose
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Constant Velocity ◽  
Control Method ◽  
Light Weight ◽  
Steering Control ◽  
Rugged Terrain ◽  
Hybrid Function ◽  
And Control ◽  
Multi Mode

We have proposed a new leg-wheel hybrid mobile robot named ""Roller-Walker"". Roller-Walker is a vehicle with a special foot mechanism, which changes to a sole in walking mode and a passive wheel in skating mode. On rugged terrain the vehicle walks in leg mode, and on level or comparatively smooth terrain the vehicle makes wheeled locomotion by roller-skating using the passive wheels. The characteristics of Roller-Walker are: 1) it has a hybrid function but it is light-weight, 2) it has the potential capability to exhibit high terrain adaptability in skating mode if the control method for roller-wolfing is fully investigated in the future. In this paper, the 4 leg trajectory of straight Roller-Walk is optimized in order to achieve maximum constant velocity. Also steering roller-walk control method is proposed. It is obtained by the expansion of the straight roller-walk trajectory theory adding an offset to the swinging motion. This steering method resembles that of a car. The control system was modified into an untethered system, and control experiments were performed. The realization of the steering motion was verified by them.

Mechatronic Design of Mobile Robots for Stable Obstacle Crossing at Low and High Speeds

2015 ◽  
pp. 567-630
Author(s):  
Jean-Christophe Fauroux ◽  
Frédéric Chapelle ◽  
Belhassen-Chedli Bouzgarrou ◽  
Philippe Vaslin ◽  
Mohamed Krid ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
High Speed ◽  
Legged Locomotion ◽  
Improve Performance ◽  
Obstacle Crossing ◽  
Low Speed ◽  
Pitch Control ◽  
High Speeds ◽  
Hybrid Locomotion

This chapter presents recent mechatronics developments to create original terrestrial mobile robots capable of crossing obstacles and maintaining their stability on irregular grounds. Obstacle crossing is both considered at low and high speeds. The developed robots use wheeled propulsion, efficient on smooth grounds, and improve performance on irregular grounds with additional mobilities, bringing them closer to legged locomotion (hybrid locomotion). Two sections are dedicated to low speed obstacle crossing. Section two presents an original mobile robot combining four actuated wheels with an articulated frame to improve obstacle climbing. Section three extends this work to a new concept of modular poly-robot for agile transport of long payloads. The last two sections deal with high-speed motion. Section four describes new suspensions with four mobilities that maintain pitch stability of vehicles crossing obstacles at high speed. After the shock, section five demonstrates stable pitch control during ballistic phase by accelerating-braking the wheels in flight.

Design and Experimental Evaluation of a Multi-mode Mobile Robot Based on Eccentric Paddle Mechanism

2021 ◽  
pp. 1-1
Author(s):  
Yi Sun ◽  
Longteng Zhang ◽  
Min Wang ◽  
Jiheng Ding ◽  
Wenchuan Jia ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Experimental Evaluation ◽  
Multi Mode

Design and analysis of a multi-mode mobile robot based on Schatz linkages

2022 ◽  
Vol 169 ◽  
pp. 104651
Author(s):  
Shun Yao ◽  
Ran Liu ◽  
Yan-an Yao
Keyword(s):  
Mobile Robot ◽  
Multi Mode

A next generation mobile robot with multi-mode sense of 3D perception

2015 ◽  
Author(s):  
Parijat Deshpande ◽  
V. Ramu Reddy ◽  
Arindam Saha ◽  
Karthikeyan Vaiapury ◽  
Keshaw Dewangan ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Next Generation ◽  
3D Perception ◽  
Multi Mode

Structure Design and Analysis of Moving Character for Detect Robot for Underground Coal Mine

2014 ◽  
Vol 526 ◽  
pp. 205-210
Author(s):  
Tong Xue ◽  
Rong Liu ◽  
Shi Min Zhai
Keyword(s):  
Mobile Robot ◽  
Coal Mine ◽  
Structural Design ◽  
Necessary Conditions ◽  
Structure Design ◽  
Underground Coal Mine ◽  
Obstacle Crossing ◽  
Design And Optimization ◽  
Tracked Mobile Robot

Aiming at the environment of the underground coal mine combined with the advantage of the articulated-tracked mobile robot at present, a flameproof mobile robot which can detect and rescue for underground coal mine is designed. By analyzed of obstacle crossing mechanism for the robot, necessary conditions for robot obstacle crossing successfully were proposed, and the gait of robot obstacle crossing was programmed. The conclusion can be provided for the same type robots structural design and optimization.

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