Innovative design for wheeled locomotion in rough terrain

Teleautonomous Control on Rescue Robot Prototype

“…It is not rigid, but it has advantage on its flexibility when it moves through unstructured obstacles. This kind of mechanism has been applied on Shrimp robot (see Figure 1.) which has been used on planetary exploration and terrestrial application [3]. In our design, number of wheels and passive linkages is fewer than Shrimp robot.…”

“…In order to support that ability, mechanism which uses passive linkages on robot's chassis so it has more flexibility to pass on unstructured obstacle. This mechanism has been applied on Shrimp robot [3]. By this research, simplification on frame concept of Shrimp robot will be done to reduce complexity and cost of robot.…”

Performance comparison of rough‐terrain robots—simulation and hardware

“…The CRAB concept follows the idea of using parallel kinematic elements like parallel bogies, as used by its two predecessors at ASL: the Shrimp (Siegwart, Lamon, Estier, Lauria & Piguet, 2002) and the SOLERO (Michaud et al, 2002). Both have excellent obstacle climbing capabilities.…”

Performance Optimization of All-Terrain Robots: A 2D Quasi-Static Tool

“…This solution is found using a numerical optimization algorithm with the following heuristic: (10) with μ equivalent to μ mean. Equation (10) shows that the optimization searches for a minimum variance. The optimization algorithm is implemented as a MATLAB script as the under-constrained problem is linear.…”

“…One can, for example, test the Shrimp [10] versus the trailer in a predefined test. The user has to be particularly cautious in the terrain selection and the metrics definition to have valuable results.…”