scholarly journals Wheel-Based Stair Climbing Robot with Hopping Mechanism - Fast Stair Climbing and Soft Landing Using Vibration of 2-DOF System -

2007 ◽  
Vol 19 (3) ◽  
pp. 258-263 ◽  
Author(s):  
Keisuke Sakaguchi ◽  
◽  
Takayuki Sudo ◽  
Naoki Bushida ◽  
Yasuhiro Chiba ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Stair Climbing ◽  
Design Parameters ◽  
Control Parameters ◽  
Mass Ratio ◽  
Climbing Robot ◽  
Soft Landing ◽  
Hopping Mechanism ◽  
And Control ◽  
Two Bodies

We propose a simple hopping mechanism using the vibration of a two-degrees-of-freedom (DOF) system for a fast stair-climbing robot. The robot, consisting of two bodies connected by springs, hops by releasing energy stored in springs and travels quickly using wheels mounted on its lower body. The trajectories of bodies during hopping change based on design parameters such as the reduced mass of the two bodies, mass ratio between the upper and lower bodies, spring constant, and control parameters such as initial contraction of the spring and wire tension. This property allows the robot to quickly and economically climb stairs and land softly. In this paper, the characteristics of hopping for the design and control parameters are clarified by both numerical simulation and experiments. Furthermore, fast stair climbing and soft landing are demonstrated.

Wheel-Based Stair Climbing Robot with Hopping Mechanism – Demonstration of Continuous Stair Climbing Using Vibration –

2008 ◽  
Vol 20 (2) ◽  
pp. 221-227 ◽  
Author(s):  
Yuji Asai ◽  
◽  
Yasuhiro Chiba ◽  
Keisuke Sakaguchi ◽  
Naoki Bushida ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Stair Climbing ◽  
Design Parameters ◽  
Mass Ratio ◽  
Climbing Robot ◽  
Soft Landing ◽  
Hopping Mechanism ◽  
And Control ◽  
Two Bodies

We propose a simple hopping mechanism using vibration of a two-degrees-of-freedom (2-DOF) system for a fast stair-climbing robot. The robot, consisting of two bodies connected by springs and a wire, hops by releasing energy stored in springs and travels quickly using wheels mounted on its lower body. The trajectories of bodies during hopping change based on mechanical design parameters such as reduced mass of the two bodies, the mass ratio between the upper and lower bodies, and spring constant, and control parameters such as initial contraction of the spring and wire tension. This property allows the robot to quickly and economically climb stairs and land softly without complex control. In this paper, we propose a mathematical model of the robot and investigate required tread length for continuous hopping to climb a flight of stairs. Furthermore, we demonstrate fast stair-climbing and soft landing for a flight of stairs in experiments.

On the Lateral Stability and Control of the Automobile as Influenced by the Dynamics of the Steering System

1966 ◽  
Vol 88 (3) ◽  
pp. 283-294 ◽  
Author(s):  
Leonard Segel
Keyword(s):  
Degrees Of Freedom ◽  
Steering System ◽  
Degree Of Freedom ◽  
Design Parameters ◽  
Steering Wheel ◽  
Directional Control ◽  
Natural Modes Of Motion ◽  
Three Degree Of Freedom ◽  
And Control ◽  
Automobile Use

Measurements of the directional response of an automobile to torque inputs applied at the steering wheel are compared with predictions yielded by a five-degree-of-freedom model of a four-wheeled, pneumatic-tired vehicle. This comparison demonstrates that the directional control and stability of the “free-control” automobile is satisfactorily characterized by the addition of a quasilinear representation of a steering system (i.e., a mechanism having two degrees of freedom with Coulomb friction introduced as the single nonlinear element) to a linear three-degree-of-freedom representation of the “fixed-control” automobile. Use is made of the experimentally substantiated five-degree-of-freedom mathematical model to study the relationship between automotive design parameters and the response and stability in each of the four natural modes of motion that exist for the free-control vehicle.

Design and analysis of an active gimbal simulator with three degrees-of-freedom for ground testing

2018 ◽  
Vol 233 (7) ◽  
pp. 2552-2562
Author(s):  
Jiao Jia ◽  
Yingmin Jia ◽  
Shihao Sun
Keyword(s):  
Degrees Of Freedom ◽  
Attitude Determination ◽  
Contact Forces ◽  
Design Parameters ◽  
Force Analysis ◽  
Ground Testing ◽  
Neutral Equilibrium ◽  
Main Support ◽  
And Control ◽  
Three Degrees Of Freedom

In this paper, a new active gimbal simulator is developed for testing the attitude determination and control system of satellites. The active gimbal simulator is composed of a rolling joint, a pitching joint, a main support frame, an active yawing joint, and a fixture. The rolling joint enables the active gimbal simulator to be applied to the columnar satellite without the fixture. The contact forces between the rolling joint and the test satellite (or the fixture) can be regulated by the support of the pitching joint. The object attached to the active gimbal simulator is at neutral equilibrium and can maintain balance at an arbitrary attitude. Hence, the object can rotate freely without being affected by its gravity. The active gimbal simulator is an approximately free-to-free suspension or support method. Compared with the traditional gimbals, the active gimbal simulator can be applied to objects of arbitrary shape especially cylinders and the effect of exogenous mass and inertia introduced by the connection mechanism is reduced. The design parameters of the active gimbal simulator are optimized based on the force analysis. A specific prototype was made, and its feasibility was verified by laboratory-based experiments.

A Study on Fast Stair-climbing and Soft-landing by 2-DOF Hopping Mechanism

2016 ◽  
Vol 2016 (0) ◽  
pp. 2P1-06b5
Author(s):  
Masafumi MIURA ◽  
Kyosuke SHIBATA ◽  
Junpei YAMAMURA ◽  
Tomohiro TATEKAWA ◽  
Koki KIKUCHI
Keyword(s):  
Stair Climbing ◽  
Soft Landing ◽  
Hopping Mechanism

scholarly journals A Wheel-based Stair-climbing Robot with a Hopping Mechanism

10.5772/8833 ◽  
2010 ◽  
Author(s):  
Koki Kikuchi ◽  
Naoki Bushida ◽  
Keisuke Sakaguchi ◽  
Yasuhiro Chiba ◽  
Hiroshi Otsuka ◽  
...  
Keyword(s):  
Stair Climbing ◽  
Climbing Robot ◽  
Hopping Mechanism

TAOYAKA-III: A Six-Legged Robot Capable of Climbing Various Columnar Objects

2019 ◽  
Vol 31 (1) ◽  
pp. 78-87 ◽  
Author(s):  
Kazuyuki Ito ◽  
◽  
Ryushi Aoyagi ◽  
Yoshihiro Homma
Keyword(s):  
Degrees Of Freedom ◽  
Autonomous Robot ◽  
Flexible Manipulator ◽  
Flexible Body ◽  
Legged Robot ◽  
Climbing Robot ◽  
Industrial Plants ◽  
Inspection And Maintenance ◽  
And Control

Inspection and maintenance of large industrial plants are important tasks expected of robots. Furthermore, it is expected that an autonomous robot will be able to climb various arbitrary columnar objects, such as pipes, pillars, and trees. These tasks would be very difficult for conventional robots, because most must first assess the shape of the object and control many bodily degrees of freedom in order to climb. In our previous work, we developed a flexible manipulator, inspired by an octopus, which could grasp various objects without sensors or controls. Its flexible body passively adapted to differences in the objects’ features. In this research, we apply that mechanism to a six-legged climbing robot, which can climb arbitrary columnar objects without first sensing their shapes.

Notes on the design process of a responsive sun-shading system: A case study of designer and user explorations supported by computational tools

2015 ◽  
Vol 29 (4) ◽  
pp. 483-502 ◽  
Author(s):  
Rodrigo Velasco ◽  
Rubén Hernández ◽  
Nicolás Marrugo ◽  
César Díaz
Keyword(s):  
High Performance ◽  
Degrees Of Freedom ◽  
Computational Simulation ◽  
Design Parameters ◽  
System A ◽  
Light Requirements ◽  
Unit Module ◽  
Definition Of ◽  
And Control ◽  
Digital Simulations

AbstractResponding to growing concerns regarding energy-efficient facades, this paper describes the structure and process followed in the design of a responsive sun-shading system based on the use of rotating plates with two degrees of freedom. The proposal considers, among others, the definition of variable design parameters, areas of performance evaluation and control, and construction detailing development represented by a first 1:2 unit (module) model. In the process, computational simulation procedures were employed to explore configurational possibilities that would provide high-performance solutions to the light requirements of the particular covered spaces. In developing the system, it was noticed that due to the highly subjective requirements of users in terms of quantity and quality of lighting, a purely Boolean control system would not always be appropriate. Following from that, and taking advantage of the dynamic nature of the system, a further approach of control supported by fuzzy logic was also implemented at the operative state, whose logic is explained. Digital simulations were carried out to assess the performance of the system, and their results demonstrate more even light distribution levels compared to traditional systems.

A study on a wheel-based stair-climbing robot with a hopping mechanism

2008 ◽  
Vol 22 (6) ◽  
pp. 1316-1326 ◽  
Author(s):  
Koki Kikuchi ◽  
Keisuke Sakaguchi ◽  
Takayuki Sudo ◽  
Naoki Bushida ◽  
Yasuhiro Chiba ◽  
...  
Keyword(s):  
Stair Climbing ◽  
Climbing Robot ◽  
Hopping Mechanism

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.

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