Model Predictive Load Distribution Control for Leg/Wheel Mobile Robots on Rough Terrain

Morihiro, Y.; Takahashi, Naoki; Nonaka, Kenichiro; Sekiguchi, Kazuma

doi:10.1016/j.ifacol.2018.11.594

Cited by 5 publications

(3 citation statements)

References 11 publications

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“…The wheels are generally small, and the wheel-leg shape conversion can be realized by locking the wheels. For example, Bjelonic et al [4] developed a quadruped robot, which is equipped with four non-steerable and torquecontrolled wheels on four legs; Morihiro et al [5] proposed a WLMR composed of six open-chain mechanisms; Chen et al [6][7] developed an electric parallel hexapod robot based on the Stewart platform. (2) Wheel-leg shape independent type: This type of mobile robot can transform its shape to adapt to different terrains according to needs.…”

Section: Introductionmentioning

confidence: 99%

Configuration Design and Gait Analysis of Wheel-Legged Mobile Robot Based on the Rubik’s Cube Mechanism

Zeng

Dong

et al. 2022

IEEE Access

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In order to improve the obstacle-crossing ability, motion stability and load-bearing capacity of mobile robots for different terrains, the Rubik's Cube mechanism (RCM) with strong coupling and variable topology is introduced into the field of mobile robots, and a wheel-legged mobile robot (WLMR) based on RCM is proposed. Aiming at the problems of the classical three-order RCM, such as small internal space, difficult processing and demanding precision, a new type of chute third-order RCM is designed, and its mechanical characteristics analysis and feasibility analysis are carried out. What's more, a driving configuration analysis method is established according to different driving configuration relationships, and the configuration of WLMR is determined by the configuration stability analysis. Then, a WLMR with polymorphism is designed, and gait planning and gait stability analysis are conducted. Eventually, the cosimulation and prototype experiments are performed to verify the efficiency of the WLMR's straight motion, in-situ rotation, obstacle-crossing and morphology transformation in complex environments. This research not only provides a reference for the design of polymorphous mobile robots, but also opens up ideas for the application of the RCM in daily production and life.

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Section: Introductionmentioning

confidence: 99%

Configuration Design and Gait Analysis of Wheel-Legged Mobile Robot Based on the Rubik’s Cube Mechanism

Zeng

Dong

et al. 2022

IEEE Access

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“…Navigation in uneven terrain or terrains with different levels demands control behaviours, e.g., a load leg/wheel load control [ 21 ] and kinematics control for a wheeled robot [ 22 ]. The control for these robots requires stability analysis during level shifting [ 23 , 24 ], controlling the motion according to the environment [ 25 ] and the step-passing [ 26 ], adapting to the terrain considering the robot’s capabilities [ 27 ].…”

Section: Introductionmentioning

confidence: 99%

Collision Avoidance and Stability Study of a Self-Reconfigurable Drainage Robot

Parween

Muthugala

Heredia

et al. 2021

Sensors

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The inspection and maintenance of drains with varying heights necessitates a drain mapping robot with trained labour to maintain community hygiene and prevent the spread of diseases. For adapting to level changes and navigating in the narrow confined environments of drains, we developed a self-configurable hybrid robot, named Tarantula-II. The platform is a quadruped robot with hybrid locomotion and the ability to reconfigure to achieve variable height and width. It has four legs, and each leg is made of linear actuators and modular rolling wheel mechanisms with bi-directional movement. The platform has a fuzzy logic system for collision avoidance of the side wall in the drain environment. During level shifting, the platform achieves stability by using the pitch angle as the feedback from the inertial measuring unit (IMU) mounted on the platform. This feedback helps to adjust the accurate height of the platform. In this paper, we describe the detailed mechanical design and system architecture, kinematic models, control architecture, and stability of the platform. We deployed the platform both in a lab setting and in a real-time drain environment to demonstrate the wall collision avoidance, stability, and level shifting capabilities of the platform.

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“…Yük amaçlı robotlar, yük taşıma amaçlı kullanılan çekici ve forkliftlerde olduğu gibi kaldırma ve taşıma şekillerine göre tasarımları değişiklik göstermektedir [11]. Bu amaçla tasarlanması hedeflenen sistemin tasarımının gerçekleştirilmesinde en önemli parametreler taşınması hedeflenen yükün ağırlığı ve boyutları olarak ön plana çıkmaktadır.…”

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Mobil Robotlar için Yük Altındaki Davranış Analizinin İncelenmesi

YAMAÇ

Yılmaz

2022

Fırat Üniversitesi Mühendislik Bilimleri Dergisi

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Öz: Robotların kullanımı özelliklerinden kaynaklı olarak gün geçtikçe artmaktadır. Endüstriyel alandaki gelişmeler, robotlara duyulan ihtiyacın artmasına neden olmuştur. Bu amaca yönelik çalışmalara araştırmacıları yöneltmiştir. Bu doğrultuda kullanılan robotlardan biri olan yük robotlarının birçok örnekleri mevcuttur. Bu araştırmanın amacı endüstri alanında faaliyet gösteren kuruluşlar ve araştırmacılar için yük robotları tasarımında önemli parametrelerin incelenmesi ile literatüre katkı sağlamaktır. Bu parametrelerden olan robot gövdesi ve montaj noktalarının analizleri yapılmıştır. Toplam deformasyon ve yük analizi, bir sonlu elemanlar yazılımı olan ANSYS programı ile incelenmiştir. Üç farklı yük altında (7,5 kN, 10 kN, 12,5 kN) yapılan analizler sonucunda gerilme sonuçlarında ciddi bir değişim gözlemlenmez iken, deformasyon sonuçlarında 0,23 mm --1,03 mm aralığında kısmi artışlar görülmüştür.

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Model Predictive Load Distribution Control for Leg/Wheel Mobile Robots on Rough Terrain

Cited by 5 publications

References 11 publications

Configuration Design and Gait Analysis of Wheel-Legged Mobile Robot Based on the Rubik’s Cube Mechanism

Configuration Design and Gait Analysis of Wheel-Legged Mobile Robot Based on the Rubik’s Cube Mechanism

Collision Avoidance and Stability Study of a Self-Reconfigurable Drainage Robot

Mobil Robotlar için Yük Altındaki Davranış Analizinin İncelenmesi

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