Design and Control Method of a Planar Omnidirectional Crawler Mechanism

2021 ◽  
pp. 1-29
Author(s):  
Eri Takane ◽  
Kenjiro Tadakuma ◽  
Masahiro Watanabe ◽  
Masashi Konyo ◽  
Satoshi Tadokoro
Keyword(s):  
Control Method ◽  
Soft Soil ◽  
Rough Terrain ◽  
Distribution Centers ◽  
Uneven Terrain ◽  
Large Pressure ◽  
Large Contact Area ◽  
Heavy Loads ◽  
And Control ◽  
The Relationship

Abstract Omnidirectional mobility is a popular method of moving in narrow spaces. In particular, the planar omnidirectional crawler previously developed by the authors can traverse unstable and uneven terrain with a large contact area. A novel point is that the proposed system is unique in its ability to carry heavy loads in all directions without getting stuck because of the large pressure-receiving area between the crawler and ground. This work will facilitate omnidirectional motion, which has important implications for the use of robots in spaces such as not only factories, distribution centers, and warehouses but also soft soil in disaster sites. The objective of the present study was to establish a design and control method for an omnidirectional crawler mechanism that can conduct holonomic and two-axis cross driving. Only two motors are set on the crawler base for translation in the X- and Y-directions, and two large crawler units are arranged for turning. We design a small crawler that has higher traversing ability with a derailment prevention mechanism and tapered track. Further, the relationship between the motor rotational speed as input and crawler velocity as output was verified for control. In addition, it was demonstrated experimentally that the proposed crawler could travel across various types of rough terrain in a target direction.

scholarly journals Analysis, Design, and Control of an Omnidirectional Mobile Robot in Rough Terrain

2009 ◽  
Vol 131 (12) ◽  
Author(s):  
Martin Udengaard ◽  
Karl Iagnemma
Keyword(s):  
Mobile Robot ◽  
Control Method ◽  
Optimization Method ◽  
Contact Angles ◽  
Design Guidelines ◽  
Rough Terrain ◽  
Uneven Terrain ◽  
Omnidirectional Mobile Robot ◽  
Subsystem Design ◽  
And Control

An omnidirectional mobile robot is able, kinematically, to move in any direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional mobile robots have considered the case of motion on flat, smooth terrain. In this paper, an investigation of the design and control of an omnidirectional mobile robot for use in rough terrain is presented. Kinematic and geometric properties of the active split offset caster drive mechanism are investigated along with system and subsystem design guidelines. An optimization method is implemented to explore the design space. The use of this method results in a robot that has higher mobility than a robot designed using engineering judgment. A simple kinematic controller that considers the effects of terrain unevenness via an estimate of the wheel-terrain contact angles is also presented. It is shown in simulation that under the proposed control method, near-omnidirectional tracking performance is possible even in rough, uneven terrain.

Wrinkling analysis and control of rectangular space membrane

2016 ◽  
Vol 231 (11) ◽  
pp. 1959-1969
Author(s):  
Mingjun Liu ◽  
Jin Huang ◽  
Yali Wang
Keyword(s):  
Control Method ◽  
Plate Theory ◽  
Plane Deformation ◽  
The Finite Element Method ◽  
Membrane Structures ◽  
Wrinkling Analysis ◽  
Out Of Plane ◽  
And Control ◽  
The Relationship ◽  
Main Factor

Wrinkling, a common phenomenon found in space membrane structures, is the main factor affecting the performance, stability, and dynamic characteristics of these membrane structures. This article presents an active control method to improve the surface accuracy of membrane structures. A model of a thin rectangular membrane subjects to uniaxial uniform tensile stress is discussed. Initially, the relationship between the out-of-plane deformation of the wrinkles and the boundary conditions is built with the Föppl–Von Karman plate theory by introducing the slow varying Fourier series. Because vertical tensions perpendicular to the direction of the initial wrinkles are necessary to reduce these wrinkles, reasonable locations and magnitudes of these tensions are the key problems. The finite element method and variational principle method are used to solve this issue. Finally, a manufacturing error is added to the model as an initial defect, and the robustness of the controller is verified. Simulation results show that wrinkles are reduced quickly and effectively with the proposed method.

Kinematic Modeling, Analysis and Control of Highly Reconfigurable Articulated Wheeled Vehicles

2013 ◽  
Author(s):  
Aliakbar Alamdari ◽  
Xiaobo Zhou ◽  
Venkat N. Krovi
Keyword(s):  
Rough Terrain ◽  
Full Potential ◽  
Kinematic Modeling ◽  
Uneven Terrain ◽  
Wheeled Vehicle ◽  
Modeling Analysis ◽  
Improved Stability ◽  
Trajectory Following ◽  
And Control ◽  
Wheeled Vehicles

The Articulated Wheeled Vehicle (AWV) paradigm examines a class of wheeled vehicles where the chassis is connected via articulated chains to a set of ground-contact wheels. Actively- or passively-controlled articulations can help alter wheel placement with respect to chassis during locomotion, endowing the vehicle with significant reconfigurability and redundancy. The ensuing ‘leg-wheeled’ systems exploit these capabilities to realize significant advantages (improved stability, obstacle surmounting capability, enhanced robustness) over both traditional wheeled- and/or legged-systems in a range of uneven-terrain locomotion applications. In our previous work, we exploited the reconfiguration capabilities of a planar AWR to achieve internal shape regulation, secondary to a trajectory-following task. In this work, we extend these capabilities to the full 3D case — in order to utilize the full potential of kinematic- and actuation-redundancy to enhance rough-terrain locomotion.

Brushless Motor and Wireless Recharge System for Electric Vehicle Design Modeling and Control

2021 ◽  
pp. 338-362
Author(s):  
Mohamed Naoui ◽  
Flah Aymen ◽  
Ben Hamed Mouna ◽  
Lassaad Sbita
Keyword(s):  
Electric Vehicle ◽  
Control Method ◽  
Storage System ◽  
Modeling And Control ◽  
The Road ◽  
Brushless Motor ◽  
Received Power ◽  
On The Road ◽  
And Control ◽  
The Relationship

This chapter deals with the problem of energy storage inside an electric vehicle. The main source of energy is based on a wireless system. This recharge tool regroups inside several components as the storage system, which consists of an ensemble of batteries and serving as the main power source, a special electronic converter that is based on the buck-boost principle and a coil receiver placed undo the vehicle. From the other side, one or more than coil transmitters are placed on the road, where the vehicle is. Modeling all of these components and expressing their mathematical models seems interesting for defining the possible control method that can guarantee a high autonomy when the vehicle is moving. So, taking into account if the care is driving or stopped, this recharge system is studied for verifying the effectiveness of this recharge system and showing the relationship between the vehicle situation and the quantity of received power. Using the platform Matlab/Simulink the results were shown and discussed.

Analysis of the Energy Loss on Quadruped Robot Having a Flexible Trunk Joint

2017 ◽  
Vol 29 (3) ◽  
pp. 536-545
Author(s):  
Masahiro Ikeda ◽  
◽  
Ikuo Mizuuchi
Keyword(s):  
Energy Loss ◽  
Energy Flow ◽  
Control Method ◽  
Quadruped Robot ◽  
Rough Terrain ◽  
Legged Robot ◽  
Walking Robot ◽  
Passive Joint ◽  
Quadruped Robots ◽  
The Relationship

[abstFig src='/00290003/09.jpg' width='300' text='Energy flow in legged robot' ] As a method of robot movement, legs have the advantage of traversability on rough terrain. However, the motion of a legged robot is accompanied by energy loss. The main causes for this loss could be negative work and contact between the legs and ground. On the other hand, animals with legs are considered to reduce energy loss by using the elasticity of their body. In this study, we analyze the influence of walking, using an elastic passive joint mounted on the trunk of a quadruped robot, on the energy loss. Additionally, we study the energy flow between legs and elastic components. In this study, we clarify a control method for quadruped robots in order to reduce the energy loss of walking. The results of simulating a quadruped walking robot, which has passive joints with elastic components on the trunk, are analyzed and the relationship between each kind of energy loss and the trunk joint’s elasticity is clarified.

2A2-D05 Foot System and Control Method for Stable Biped Walking on Rough Terrain(Walking Robot)

2011 ◽  
Vol 2011 (0) ◽  
pp. _2A2-D05_1-_2A2-D05_2
Author(s):  
Moyuru YAMADA ◽  
Shigenori SANO ◽  
Naoki UCHIYAMA
Keyword(s):  
Control Method ◽  
Rough Terrain ◽  
Walking Robot ◽  
Biped Walking ◽  
And Control

Dynamics Analysis and Control Strategy Simulation of Lower Extremity of Power Assist Robot

2014 ◽  
Vol 513-517 ◽  
pp. 4098-4101
Author(s):  
Xin Jun Li ◽  
Xi Wang Mao ◽  
Long He ◽  
Xin Rui Wang
Keyword(s):  
Lower Extremity ◽  
Control Strategy ◽  
Lagrange Equation ◽  
Dynamic Control ◽  
Working Environment ◽  
Joint Torque ◽  
Dynamics Analysis ◽  
Heavy Loads ◽  
And Control ◽  
The Relationship

Lower Extremity of Power Assist Robot could add the strength and endurance of robotics to a human's innate adaptability to help the wearer transport heavy loads over rough and unpredictable terrain. Dynamics Analysis and Control Strategy Simulation are the important aspects for the researching of the robot. The dynamics equation of Lower Extremity of Power Assist Robot is built by the Lagrange equation. The relationship between the active joint torque of the robot and plantar pressure is established, which support the theoretical foundation for the dynamic control to achieve the desired effect. Base on the analysis of working environment and the mechanical environment of the robot, the force-location control theory is used to control robot, which is simulated based on Simulink blocks of MATLAB to get a better tracking performance.

scholarly journals Lateral Stability of a Mobile Robot Utilizing an Active Adjustable Suspension

2019 ◽  
Vol 9 (20) ◽  
pp. 4410
Author(s):  
Hui Jiang ◽  
Guoyan Xu ◽  
Wen Zeng ◽  
Feng Gao ◽  
Kun Chong
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Evaluation Method ◽  
Mathematic Model ◽  
Active Suspension ◽  
Lateral Stability ◽  
Uneven Terrain ◽  
The Stability ◽  
And Control ◽  
The Relationship

Mobile robots are expected to traverse on unstructured terrain, especially uneven terrain, or to climb obstacles or slopes. This paper analyzes one such passively–actively transformable mobile robot that is principally aimed at the above issue. A passive locomotion traverses on a rough and flat terrain; an active reconfiguration with an active suspension. This paper investigates the lateral stability of this mobile robot when it reconfigures itself to adjust its roll angle with the active suspension. The principles and configurations of the robot and its active suspension are presented. To analyze the effects of the suspensions’ inputs on robot stability, a mathematic model of the robot on side slopes is presented. Based on the evaluation method of the stability pyramid theory, an analytical expression representing the relationship between the input of the active suspension (linear actuator length) and stability evaluation index on transverse slopes is obtained. The results show that there is an increase in both the lateral stability and minimum lateral tip-over angle under different ground clearances when adjusting the active inputs. Furthermore, the models presented here provide theoretical references and optimization directions for the design and control of mobile robots with adjustable suspensions.

scholarly journals Stair Climbing Control for 4-DOF Tracked Vehicle Based on Internal Sensors

2017 ◽  
Vol 2017 ◽  
pp. 1-18 ◽  
Author(s):  
Daisuke Endo ◽  
Atsushi Watanabe ◽  
Keiji Nagatani
Keyword(s):  
Degrees Of Freedom ◽  
Control Method ◽  
Search And Rescue ◽  
Experimental Results ◽  
Stair Climbing ◽  
Rough Terrain ◽  
Tracked Vehicle ◽  
Planning And Control ◽  
And Control

In search-and-rescue missions, multi-degrees-of-freedom (DOF) tracked robots that are equipped with subtracks are commonly used. These types of robots have superior locomotion performance on rough terrain. However, in teleoperated missions, the performance of tracked robots depends largely on the operators’ ability to control every subtrack appropriately. Therefore, an autonomous traversal function can significantly help in the teleoperation of such robots. In this paper, we propose a planning and control method for 4-DOF tracked robots climbing up/down known stairs automatically based on internal sensors. Experimental results obtained using mockup stairs verify the effectiveness of the proposed method.

From Container to Claustrum: Projective Identification in Couples

2014 ◽  
Vol 4 (2) ◽  
Author(s):  
Tamara Feldman
Keyword(s):  
Psychological Health ◽  
Projective Identification ◽  
The Self ◽  
The Other ◽  
Intimate Partners ◽  
And Control ◽  
The Relationship ◽  
As If

This paper is a contribution to the growing literature on the role of projective identification in understanding couples' dynamics. Projective identification as a defence is well suited to couples, as intimate partners provide an ideal location to deposit unwanted parts of the self. This paper illustrates how projective identification functions differently depending on the psychological health of the couple. It elucidates how healthier couples use projective identification more as a form of communication, whereas disturbed couples are inclined to employ it to invade and control the other, as captured by Meltzer's concept of "intrusive identification". These different uses of projective identification affect couples' capacities to provide what Bion called "containment". In disturbed couples, partners serve as what Meltzer termed "claustrums" whereby projections are not contained, but imprisoned or entombed in the other. Applying the concept of claustrum helps illuminate common feelings these couples express, such as feeling suffocated, stifled, trapped, held hostage, or feeling as if the relationship is killing them. Finally, this paper presents treatment challenges in working with more disturbed couples.

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