A Wheel-legged Mobile Robot with Adjustable Body Length for Rescue and Search

Bai, Long; Li, Xingyu; Sun, Yuanxi; Jia, Zheng; Chen, Xiaohong

doi:10.1109/icarm52023.2021.9536060

Cited by 9 publications

(4 citation statements)

References 20 publications

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“…According to (10), the lateral displacement of the robot will be less than 4cm, which is less than tenth of the width of the robot. This shows that the OmniWheg is able to align its wheels with a small space requirement.…”

Section: F Wheel Alignmentmentioning

confidence: 99%

OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot

Cao¹,

Gu²,

Chen³

et al. 2022

Preprint

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This paper presents the design, analysis, and performance evaluation of an omnidirectional transformable wheel-leg robot called OmniWheg. We design a novel mechanism consisting of a separable Omni-wheel and 4-bar linkages, allowing the robot to transform between Omni-wheeled and legged modes smoothly. On wheeled mode, the robot can move in all directions and efficiently adjust the relative position of its wheels, while it can overcome common obstacles in legged mode, such as stairs and steps. Unlike other articles studying whegs, this implementation with omnidirectional wheels allows the correction of misalignments between right and left wheels before traversing obstacles, which effectively improves the success rate and simplifies the preparation process before the wheel-leg transformation. We describe the design concept, mechanism, and the dynamic characteristic of the wheel-leg structure. We then evaluate its performance in various scenarios, including passing obstacles, climbing steps of different heights, and turning/moving omnidirectionally. Our results confirm that this mobile platform can overcome common indoor obstacles and move flexibly on the flat ground with the new transformable wheel-leg mechanism, while keeping a high degree of stability.

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Section: F Wheel Alignmentmentioning

confidence: 99%

OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot

Cao¹,

Gu²,

Chen³

et al. 2022

Preprint

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show abstract

“…Robots are increasingly being used for rescue operations to improve work flexibility and expand the range of operations. Over the past decades, different types of rescue robots have been developed, such as snake-shaped search and rescue robots [1][2][3], bionic crawling search and rescue robots [4,5], wheel-footed robots with enhanced obstacle-crossing capabilities [6][7][8], aircraft-based rescue robots [9,10], rope-assisted climbing robots for applications in mountainous environments [11], and deformable robots for water rescue [12]. However, few of these robots have significant excavation and handling capabilities.…”

Section: Introductionmentioning

confidence: 99%

Design and Simulation of a Seven-Degree-of-Freedom Hydraulic Robot Arm

Zhong,

Jiang,

Zhang

et al. 2023

Actuators

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The current reliance on manual rescue is inefficient, and lightweight, highly flexible, and intelligent robots need to be investigated. Global seismic disasters occur often, and rescue jobs are defined by tight timetables and high functional and intellectual requirements. This study develops a hydraulically powered redundant robotic arm with seven degrees of freedom. To determine the force situation of the robotic arm in various positions, the common digging and handling conditions of the robotic arm are dynamically simulated in ADAMS. A finite element analysis is then performed for the dangerous force situation to confirm the structural strength of the robotic arm. The hydraulic manipulator prototype is manufactured, and stress–strain experiments are conducted on the robotic arm to verify the finite element simulation’s reliability.

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“…Wheeled mobile robots have been widely studied in space exploration, rescue, service, and other industries due to their simple drive mechanism, good adaptability to terrain, and high energy efficiency [1,2]. Because of high precision demand and unknown terrain disturbances such as inconstant slip ratios, the tracking control of wheeled mobile robotic systems (WMRSs) has always been a research hotspot.…”

Section: Introductionmentioning

confidence: 99%

“…In particular, being parameterized NNs with a single weight layer, radial basis function NNs (RBFNNs) are preferred to other NNs for their comprehensive approximation properties [20]. With the assistance of NNs, two commonly near-optimal control methods can be implemented: (1) adaptive dynamic programming (ADP) [21] and (2) reinforcement learning (RL) [22,23]. Based on these studies, two ways have been developed that specifically deal with inequality constraints.…”

Section: Introductionmentioning

confidence: 99%

Neural‐based online finite‐time optimal tracking control for wheeled mobile robotic system with inequality constraints

Ding,

Zheng,

et al. 2023

Asian Journal of Control

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In this study, a finite‐time online optimal controller was designed for a nonlinear wheeled mobile robotic system (WMRS) with inequality constraints, based on reinforcement learning (RL) neural networks. In addition, an extended cost function, obtained by introducing a penalty function to the original long‐time cost function, was proposed to deal with the optimal control problem of the system with inequality constraints. A novel Hamilton‐Jacobi‐Bellman (HJB) equation containing the constraint conditions was defined to determine the optimal control input. Furthermore, two neural networks (NNs), a critic and an actor NN, were established to approximate the extended cost function and the optimal control input, respectively. The adaptation laws of the critic and actor NN were obtained with the gradient descent method. The semi‐global practical finite‐time stability (SGPFS) was proved using Lyapunov's stability theory. The tracking error converges to a small region near zero within the constraints in a finite period. Finally, the effectiveness of the proposed optimal controller was verified by a simulation based on a practical wheeled mobile robot model.

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A Wheel-legged Mobile Robot with Adjustable Body Length for Rescue and Search

Cited by 9 publications

References 20 publications

OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot

OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot

Design and Simulation of a Seven-Degree-of-Freedom Hydraulic Robot Arm

Neural‐based online finite‐time optimal tracking control for wheeled mobile robotic system with inequality constraints

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