Hypermobile Robots

Granosik, Grzegorz

doi:10.5772/5401

Cited by 4 publications

(5 citation statements)

References 21 publications

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“…We have compared two methods for coordination of segment movements: follow-the-leader and ntrailer. Wheeeler's performance under n-trailer control is better than in case of the follow-theleader, as reported in [39].…”

Section: Review Of Hypermobile Robotsmentioning

confidence: 73%

“…This means that in the ideal case, the aforementioned slip of the wheels will be eliminated. Both follow-theleader and n-trailer methods were tested in our Wheeeler project [39] and also comprehensively compared on PIKo robot [42]. They work reasonably well on an uneven but still continuous terrain, unfortunately, control on stairs requires further improvements.…”

Section: Coordination Methodsmentioning

confidence: 99%

“…• avoid slippage by active [2,8,11,17] or passive joints [23,28,44], or additional elements [32,38,45] that provide good trafficability of the robot -maximize tractive power, • detect slippage and estimate true value of the speed [39,48].…”

Section: Coordination Methodsmentioning

confidence: 99%

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Hypermobile Robots – the Survey

Granosik

2013

J Intell Robot Syst

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This article presents a survey on hypermobile robots -a group of articulated mobile robots that typically comprise of several segments with powered wheels, tracks, or legs to propel the vehicle forward. Segments are connected by 2-or 3-degree-of-freedom (DOF) joints that may or may not be powered and provide better mobility as compared with regular mobile robots. The origins are analyzed and over 14 projects are compared in order to find the best methodology of designing and developing hypermobile robots.

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Section: Review Of Hypermobile Robotsmentioning

confidence: 73%

Section: Coordination Methodsmentioning

confidence: 99%

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Hypermobile Robots – the Survey

Granosik

2013

J Intell Robot Syst

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“…Since then, diverse systems have been implemented [8,9]. Robots with tracks as propulsive elements [10,11,12] have already shown their impressive terrainability negotiating obstacles.…”

Section: B Related Workmentioning

confidence: 99%

A wireless contact point sensor for tracked robots

Heckes

Predki

Labenda

2012

2012 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

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Mobile robots offer significant potentials for inspection and surveillance of damage sites after building collapses in the course of a natural or manmade catastrophe. They can be operated semi-autonomously or remote controlled which decreases the danger of the first responders at place. Nevertheless the mentioned scenarios are mostly hard-to-reach and hazardous environments. Therefore mobile robots for the use in such areas have to possess outstanding locomotion and mobility capabilities. Those can be theoretically provided by snake-like robots which have a slender, segmented and modular structure. Furthermore the trafficability and terrainability can be improved by the use of tracks as propulsive elements. Though the use of tracks is best suited for unstructured terrain their design is challenging. This is especially due to the aspect of sensor integration for the detection of physical system-environment-interaction which is necessary for a better terrain adaptation. The paper at hand introduces and describes a new wireless contact sensor for contact point detection for the mobile robot MOEBHIU²S. It focuses on the design, the post integration into the tracks, the signal routing by using RFID technology and first results measured on a test rig.

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“…Snake‐like, actively articulated robots are under development since the 1970s (Hirose, 1993). By now, numerous systems have been elaborated (Granosik, 2008; Hopkins et al , 2009). This also applies to robots using tracks as propulsive elements (Granosik et al , 2006; Borenstein and Hansen, 2007; Arai et al , 2008).…”

Section: Related Workmentioning

confidence: 99%

Snake‐like, tracked, mobile robot with active flippers for urban search‐and‐rescue tasks

Neumann

Predki²,

Heckes³

et al. 2013

Industrial Robot: An International Journal

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PurposeAfter a building collapse, people buried alive have to be localized and rescued. This requires the damage site's inspection and surveillance. These tasks are dangerous and challenging due to the area's hard‐to‐reach and hazardous environment. The damage site cannot be actively entered but must be inspected from a safe distance. In this context, mobile robots gain in importance as they can be operated semi‐autonomously or remote‐controlled without exposing the first responders to the risk. The purpose of this paper is to introduce a novel robot.Design/methodology/approachThe novel robot introduced in this paper has a snake‐like build‐up, uses tracks and active flippers for locomotion and negotiates completely structured as well as extremely unstructured and rough terrain. The system's slender, segmented and modular structure is actively articulated by the use of overall 30 degrees‐of‐freedom, which allow the robot's flexible adaptation to a given terrain. System‐terrain‐interaction is detected by the use of an innovative, RFID‐based sensory integrated in the system's tracks.FindingsThe paper presents the mobile robot's basic features, as well as first experimental results for semi‐autonomy and tele‐operation.Originality/valueThe introduced robot stands out due to its high locomotion and mobility capabilities.

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Hypermobile Robots

Cited by 4 publications

References 21 publications

Hypermobile Robots – the Survey

Hypermobile Robots – the Survey

A wireless contact point sensor for tracked robots

Snake‐like, tracked, mobile robot with active flippers for urban search‐and‐rescue tasks

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