Design and locomotion analysis of a close-chain leg-wheel mobile platform

Xia, Fan; Ruan, Qiang

doi:10.1108/ir-02-2022-0046

Cited by 3 publications

(3 citation statements)

References 25 publications

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“…For all of these scenarios, based on our research experiences on different kinds of robot [53, 55, 95–103], it is foreseeable that the future trends of UGV platform can be discussed in several aspects: Reducing the cost of robots, complex mobile type UGV platform will be the most suitable solution [55, 104–108]. In addition, UGVs with high maneuverability will become a significant trend.…”

Section: Challengesmentioning

confidence: 99%

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State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics

Yue

Zheng

et al. 2023

Robotica

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This article presents a review of the platform configuration and dynamic of obstacle-surmounting unmanned ground vehicles (UGVs). For now, unmanned systems have emerged as a result of the rapid advancement of artificial intelligence and modern manufacturing techniques both domestically and internationally. The research on unmanned systems has been improved a lot. The UGV platform can execute transportation, recurring, and military tasks independently. For the high-level self-control, adaption, and maneuverability abilities, the UGV platform has been applied in the military, industry, and other special fields widely. The UGV platform usually performs tasks in an unstructured environment, so the all-terrain performance becomes a key factor restricting their operating efficiency and reliability. A brief literature review of the UGV platform is carried out in this article.

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Section: Challengesmentioning

confidence: 99%

“…1. Reducing the cost of robots, complex mobile type UGV platform will be the most suitable solution [55,[104][105][106][107][108]. In addition, UGVs with high maneuverability will become a significant trend.…”

Section: Challengesmentioning

confidence: 99%

State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics

Yue

Zheng

et al. 2023

Robotica

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“…The popularity of wheeled mobile robots has rapidly grown in recent years due to advancements in technology. Initially designed to replace humans in hazardous environments, mobile robots have now found applications in various industries such as food service, package delivery, information services, agriculture and sports (Fan and Ruan, 2023). These applications require precise motion and drive control to ensure efficient and safe operations (Bogue, 2023).…”

Section: Introductionmentioning

confidence: 99%

Coordinated torque control for enhanced steering and stability of independently driven mobile robots

Wang,

Wang

2024

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Purpose Mobile robots with independent wheel control face challenges in steering precision, motion stability and robustness across various wheel and steering system types. This paper aims to propose a coordinated torque distribution control approach that compensates for tracking deviations using the longitudinal moment generated by active steering. Design/methodology/approach Building upon a two-degree-of-freedom robot model, an adaptive robust controller is used to compute the total longitudinal moment, while the robot actuator is regulated based on the difference between autonomous steering and the longitudinal moment. An adaptive robust control scheme is developed to achieve accurate and stable generation of the desired total moment value. Furthermore, quadratic programming is used for torque allocation, optimizing maneuverability and tracking precision by considering the robot’s dynamic model, tire load rate and maximum motor torque output. Findings Comparative evaluations with autonomous steering Ackermann speed control and the average torque method validate the superior performance of the proposed control strategy, demonstrating improved tracking accuracy and robot stability under diverse driving conditions. Research limitations/implications When designing adaptive algorithms, using models with higher degrees of freedom can enhance accuracy. Furthermore, incorporating additional objective functions in moment distribution can be explored to enhance adaptability, particularly in extreme environments. Originality/value By combining this method with the path-tracking algorithm, the robot’s structural path-tracking capabilities and ability to navigate a variety of difficult terrains can be optimized and improved.

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