A semi-active robot for steep obstacle ascent

Avinash, S; Anurag, V. V.; Singh, Arun Kumar; Shah, Suril V.; Krishna, K. Madhava

doi:10.1109/cca.2013.6662754

Cited by 2 publications

(1 citation statement)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…These two problems can be avoided by determining the minimum ground clearance and link joint placement, as discussed in [15]. The specifications of the proposed robot are listed in Table II.…”

Section: Introductionmentioning

confidence: 99%

A compliant multi-module robot for climbing big step-like obstacles

Avinash

Srivastava

Purohit

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

A novel compliant robot is proposed for traversing on unstructured terrains. The robot consists of modules, each containing a link and an active wheel-pair, and neighboring modules are connected using a passive joint. This type of robots are lighter and provide high durability due to the absence of link-actuators. However, they have limited climbing ability due to tendency of tipping over while climbing big obstacles. To overcome this disadvantage, the use of compliant joints is proposed in this work. Stiffness of each compliant joint is estimated by formulating an optimization problem with an objective to minimize link joint moments while maintaining static-equilibrium. This is one of the key novelties of the proposed work. A design methodology is also proposed for developing an n-module compliant robot for climbing a given height on a known surface. The efficacy of the proposed formulation is illustrated using numerical simulations of the three and five module robots. The robot is successfully able to climb maximum heights upto three times and six times the wheel diameter using three and five modules, respectively. A working prototype was developed and the simulation results were successfully validated on it.

show abstract

Section: Introductionmentioning

confidence: 99%

A compliant multi-module robot for climbing big step-like obstacles

Avinash

Srivastava

Purohit

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

show abstract

Design and Analysis of a Climbing Mechanical Appliance

Wang

2014

AMR

View full text Add to dashboard Cite

Current climbing appliances are difficult to ensure the steady change from walking to climbing. Consequently, we come up with a climbing mechanical appliance, design it and analyze the appliance on rationality and feasibility. The appliance is lifted by rack and pinion mechanism. In order to ensure smooth and steady movement of the appliance, a counterweight balancing mechanism is designed to adjust the centroid according to actual situation. Through the movement principle analysis of transmission mechanism for the appliance, we build its 3D model by SolidWorks. A simulation analysis has also been provided to examine the feasibility of transmission mechanism under the help of ADAMS.

show abstract

A semi-active robot for steep obstacle ascent

Cited by 2 publications

References 11 publications

A compliant multi-module robot for climbing big step-like obstacles

A compliant multi-module robot for climbing big step-like obstacles

Design and Analysis of a Climbing Mechanical Appliance

Contact Info

Product

Resources

About