Development of a transformable wheel-track mobile robot and obstacle-crossing mode selection

2014 ◽  
Author(s):  
Wenzeng Guo ◽  
Shigong Jiang ◽  
Chengguo Zong ◽  
Xueshan Gao
Keyword(s):  
Mobile Robot ◽  
Mode Selection ◽  
Obstacle Crossing ◽  
Wheel Track

scholarly journals Functional Design of a Hybrid Leg-Wheel-Track Ground Mobile Robot

Machines ◽  
2021 ◽  
Vol 9 (1) ◽  
pp. 10
Author(s):  
Luca Bruzzone ◽  
Mario Baggetta ◽  
Shahab E. Nodehi ◽  
Pietro Bilancia ◽  
Pietro Fanghella
Keyword(s):  
Mobile Robot ◽  
High Energy ◽  
General Purpose ◽  
Stair Climbing ◽  
Functional Design ◽  
Multibody Simulation ◽  
Embodiment Design ◽  
Locomotion System ◽  
Hybrid Locomotion ◽  
Wheel Track

This paper presents the conceptual and functional design of a novel hybrid leg-wheel-track ground mobile robot for surveillance and inspection, named WheTLHLoc (Wheel-Track-Leg Hybrid Locomotion). The aim of the work is the development of a general-purpose platform capable of combining tracked locomotion on irregular and yielding terrains, wheeled locomotion with high energy efficiency on flat and compact grounds, and stair climbing/descent ability. The architecture of the hybrid locomotion system is firstly outlined, then the validation of its stair climbing maneuver capabilities by means of multibody simulation is presented. The embodiment design and the internal mechanical layout are then discussed.

scholarly journals A reconfigurable hybrid wheel-track mobile robot based on Watt II six-bar linkage

2018 ◽  
Vol 128 ◽  
pp. 16-32 ◽  
Author(s):  
Zirong Luo ◽  
Jianzhong Shang ◽  
Guowu Wei ◽  
Lei Ren
Keyword(s):  
Mobile Robot ◽  
Wheel Track

Stability Analysis of a Wheel-Track-Leg Hybrid Mobile Robot

2017 ◽  
Vol 91 (3-4) ◽  
pp. 515-528 ◽  
Author(s):  
Yuhang Zhu ◽  
Yanqiong Fei ◽  
Hongwei Xu
Keyword(s):  
Stability Analysis ◽  
Mobile Robot ◽  
Wheel Track

Autonomous terrain adaptation and user-friendly tele-operation of wheel-track hybrid mobile robot

2012 ◽  
Vol 13 (10) ◽  
pp. 1781-1788 ◽  
Author(s):  
Yoon-Gu Kim ◽  
Jeong-Hwan Kwak ◽  
Dae-Han Hong ◽  
In-Huck Kim ◽  
Dong-Hwan Shin ◽  
...  
Keyword(s):  
Mobile Robot ◽  
User Friendly ◽  
Wheel Track

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.

MOBIT, A Small Wheel - Track - Leg Mobile Robot

2006 ◽  
Author(s):  
Xingguang Duan ◽  
Qiang Huang ◽  
N. Rahman ◽  
Junchen Li ◽  
Jingtao Li
Keyword(s):  
Mobile Robot ◽  
Wheel Track
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