Remote Control and Autonomous Driving: The System-wide Design of a Wheel-track Transformable Robot –– Kylin Blaster

Han, Changlin; Xu, Yiyao; Xiao-hong, XU; Zeng, Zhiwen; Lu, Huimin; Zhou, Zongtan

doi:10.1109/cac.2018.8623389

Cited by 2 publications

(5 citation statements)

References 3 publications

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“…Other robots adopt peripheral tracks on the leg links (Hirose et al, 2009), sometimes in combination with wheels (Han et al, 2018). In hybrid solutions involving both tracks and wheels, the contact of the wheels with the ground can be activated and deactivated by moving the legs (Han et al, 2018), by retracting the wheels inside the robot body (Ben‐Tzvi & Saab, 2019), or by adopting tracks with a variable profile (Gao et al, 2017; Kim et al, 2010). RHyMo (Choi et al, 2017) is a hybrid robot characterized by a complex articulated frame, equipped with four wheels and two front tracks connected by lateral rocker‐bogie systems and inverse four‐bar mechanisms, enabling effective overcoming of terrain irregularities and obstacles.…”

Section: Introductionmentioning

confidence: 99%

“…Focussing on hybrid solutions involving tracks and legs, the most obvious approach is to place them in parallel on the same robot body (Fujita & Sasaki, 2018; Rea & Ottaviano, 2018). Other robots adopt peripheral tracks on the leg links (Hirose et al, 2009), sometimes in combination with wheels (Han et al, 2018). In hybrid solutions involving both tracks and wheels, the contact of the wheels with the ground can be activated and deactivated by moving the legs (Han et al, 2018), by retracting the wheels inside the robot body (Ben‐Tzvi & Saab, 2019), or by adopting tracks with a variable profile (Gao et al, 2017; Kim et al, 2010).…”

Section: Introductionmentioning

confidence: 99%

“…The theoretical and experimental results outlined in Bruzzone et al (2024) show that the maximum affordable step for the WheTLHLoc 2W robot is 165 mm, sufficient to operate in most indoor environments. The differences among WheTLHLoc 2W and other similar hybrid architectures (Han et al, 2018; Hirose et al, 2001; Robot for Stairs Climbing) are highlighted in Bruzzone et al (2024).…”

Section: Introductionmentioning

confidence: 99%

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WheTLHLoc 4W: Small‐scale inspection ground mobile robot with two tracks, two rotating legs, and four wheels

Bruzzone,

Nodehi,

Fanghella

2024

Journal of Field Robotics

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WheTLHLoc 4W is the second version of a hybrid leg–wheel–track small‐scale ground mobile robot, developed for surveillance and inspection applications. It differs from its predecessor, WheTLHLoc 2W, in two main aspects: the number of wheels (four instead of two), and the new leg design. The overall size of the robot varies depending on the configuration: 500 × 420 × 140 mm (length × width × height) in tracked mode with lowered legs, 315 × 420 × 310 mm in tracked mode with raised legs, and 430 × 420 × 260 mm in wheeled mode. The robot is sufficiently small to explore narrow spaces, both indoors and outdoors, switching between wheeled locomotion on compact surfaces and tracked locomotion on irregular and yielding terrain. Due to its small length, the robot can stand on one tread of a stair. Nevertheless, it is capable of climbing stairs, and the step height limit has been augmented from 165 mm to 180 mm (+9.1%) with respect to the first version, keeping constant the robot overall size. This enhancement has been achieved through a mechanical redesign of the two rotating legs: each leg now features a pair of smaller wheels, actuated by the same actuator through a gear train, instead of a single larger wheel. The significant increase in the maximum step height expands the robot's capabilities for indoor environments, as stairs with a rise higher than 180 mm are extremely uncommon. The paper discusses the mechanical design of WheTLHLoc 4W, the trajectory planning for step/stair climbing, and provides an analytical comparison between the novel architecture and the first version in terms of stability against overturn and slippage. These analytical results are then experimentally verified. The findings demonstrate that the new leg design not only increases the maximum step height (+9.1%), but also reduces the minimum friction coefficient required for successful stair climbing (−19.1% for the maximum step).

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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WheTLHLoc 4W: Small‐scale inspection ground mobile robot with two tracks, two rotating legs, and four wheels

Bruzzone,

Nodehi,

Fanghella

2024

Journal of Field Robotics

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“…Focusing on LT hybrid robots, there are different ways to combine legs and tracks. Besides the most obvious approach of using them in parallel [24][25][26], peripheral tracks can be placed on the leg links [27]; this approach is also used for the Kylin robot, with LWT hybrid locomotion [28].…”

Section: Introductionmentioning

confidence: 99%

“…Regarding the wheeled locomotion, there are some similarities with the Kylin robot [28]: Two actuated wheels are placed at the end of rotating arms, and passive omni wheels are adopted. The advantages of the WheTLHLoc with respect to the Kylin are: (i) The possibility of using the longer legs, also in combination with the tracks, to overcome obstacles; (ii) the capability of operating after an overturn due to the symmetry; (iii) the most compact and robust design.…”

mentioning

confidence: 99%

Functional Design of a Hybrid Leg-Wheel-Track Ground Mobile Robot

et al. 2021

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This paper presents the conceptual and functional design of a novel hybrid leg-wheel-track ground mobile robot for surveillance and inspection, named WheTLHLoc (Wheel-Track-Leg Hybrid Locomotion). The aim of the work is the development of a general-purpose platform capable of combining tracked locomotion on irregular and yielding terrains, wheeled locomotion with high energy efficiency on flat and compact grounds, and stair climbing/descent ability. The architecture of the hybrid locomotion system is firstly outlined, then the validation of its stair climbing maneuver capabilities by means of multibody simulation is presented. The embodiment design and the internal mechanical layout are then discussed.

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Remote Control and Autonomous Driving: The System-wide Design of a Wheel-track Transformable Robot –– Kylin Blaster

Cited by 2 publications

References 3 publications

WheTLHLoc 4W: Small‐scale inspection ground mobile robot with two tracks, two rotating legs, and four wheels

WheTLHLoc 4W: Small‐scale inspection ground mobile robot with two tracks, two rotating legs, and four wheels

Functional Design of a Hybrid Leg-Wheel-Track Ground Mobile Robot

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