Dynamics and wheel's slip ratio of a wheel-legged robot in wheeled motion considering the change of height

Ding, Xilun; Li, Kejia; Xu, Kun

doi:10.3901/cjme.2012.05.1060

Cited by 26 publications

(11 citation statements)

References 11 publications

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“…[2][3][4][5] The wheel-legged type combines the advantages of both wheeled and legged chassis which is the most widely used in the uncertain surface now. [6][7][8][9] Wheel-legged locomotion systems such as Chariot III, 10 HyLoS series (four-legged robot), 11 NOROS series, 12 and ATHLETE (six-legged robot) [13][14][15] are applied in other fields. Compared with other wheellegged system, harvester chassis is different because of the articulated steering structure.…”

Section: Introductionmentioning

confidence: 99%

Dynamic research and analysis for a wheel-legged harvester chassis during tilting process

Liu

Sun

et al. 2019

Advances in Mechanical Engineering

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This article aims to analyze the dynamic tilting characteristics of a four-wheel-legged harvester chassis. In order to achieve the pose and position of the chassis, kinematic model of a four-wheel-legged harvester chassis was established by the screw theory method. After analyzing the actual motion of the chassis during tilting process, dynamic tilting model of the wheel-legged articulated steering chassis was achieved based on the Lagrange's equation. To prove the accuracy of the dynamic model, simulations of the chassis was conducted under ADAMS environment. Three series of comparisons showed that results between simulations and calculations were highly consistent. Both results showed that lifting the tilting side wheel-legs, shortening the other side legs, and steering to the tilting side could help prevent tilting of the chassis. Lifting the tilting side wheel-legs was proved to be more efficient than shortening that of the other sides. Average error of the change rates between simulations and calculations were 2.4%, 0.67%, and 2.75%.

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Section: Introductionmentioning

confidence: 99%

Dynamic research and analysis for a wheel-legged harvester chassis during tilting process

Liu

Sun

et al. 2019

Advances in Mechanical Engineering

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“…23 NOROS combines the good terrain adaptation of legs with the high efficiency of wheels for overcoming both the low walking efficiency of legs and the terrain limitation of wheels. [24][25][26] The compact structure of the robot is shown in Fig. 2(a).…”

Section: Brief Introduction To the Six-wheel-legged Robotmentioning

confidence: 99%

Motion planning and implementation for the self-recovery of an overturned multi-legged robot

Peng¹,

Ding²,

Yang³

et al. 2015

Robotica

Self Cite

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SUMMARYThis paper first presents a method of motion planning and implementation for the self-recovery of an overturned six-legged robot. Previous studies aimed at the static and dynamic stabilization of robots for preventing them from overturning. However, no one can guarantee that an overturn accident will not occur during various applications of robots. Therefore, the problems involving overturning should be considered and solved during robot design and control. The design inspirations of multi-legged robots come from nature, especially insects and mammals. In addition, the self-recovery approach of an insect could also be imitated by robots. In this paper, such a self-recovery mechanism is reported. The inertial forces of the dangling legs are used to bias some legs to touch the ground, and the ground reaction forces exerted on the feet of landing legs are achieved to support and push the body to enable recovery without additional help. By employing the mechanism, a self-recovery approach named SSR (Sidewise-Self-Recovery) is presented and applied to multi-legged robots. Experiments of NOROS are performed to validate the effectiveness of the self-recovery motions. The results show that the SSR is a suitable method for multi-legged robots and that the hemisphere shell of robots can help them to perform self-recovery.

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“…Wheel-Legged locomotion system is a preferred solution for maneuvering on such rough terrain, e.g. Chariot III [4][5][6][7][8], HyLoS series (four-legged robot) [9], NOROS series [10] and ATHLETE (six-legged robot) [11][12][13]. Compared with the traditional wheeled machines, high mobility, obstaclesurmounting capability and maneuverability are the major merits of the wheel-leg locomotion system.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis and Leveling Control Method for a Novel Wheel- Legged Robot

Sun¹,

Liu²,

Yu³

et al. 2015

TOMEJ

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The paper introduces a novel auto-leveling system applied to the obstacle-surmounting robot with six wheellegs. The leveling model of the robot with six wheel legs and one articulated steering is analyzed. Besides, the kinematic model of the robot is presented. In order to optimize the leveling algorithm, a special PID control strategy with the leveling matrix is applied to the leveling system. The experiment shows that the new leveling system can improve the efficiency and the stability of the leveling performance: the leveling time is reduced by 3.5 seconds and the obvious tilt fluctuations are decreased by 5 times.

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Dynamics and wheel's slip ratio of a wheel-legged robot in wheeled motion considering the change of height

Cited by 26 publications

References 11 publications

Dynamic research and analysis for a wheel-legged harvester chassis during tilting process

Dynamic research and analysis for a wheel-legged harvester chassis during tilting process

Motion planning and implementation for the self-recovery of an overturned multi-legged robot

Kinematic Analysis and Leveling Control Method for a Novel Wheel- Legged Robot

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