Wheel-Legged Robot – Construction and Obstacle Detection Sensors

Gronowicz, Antoni; Sperzyński, P.; Szrek, Jarosław; Jakubiak, Janusz

doi:10.1007/978-94-007-7485-8_24

Cited by 7 publications

(6 citation statements)

References 3 publications

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“…WLMRs can be roughly divided into three types according to design concept. (1) A wheeled structure with a legged suspension, e.g., ANYmal and ATHLETE [2][3][4][5][6][7][8][9][10][11][12][13]. The wheel and the leg are generally connected in series, with the wheel set at the end of the leg.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis of a Serial-Parallel Hybrid Mechanism and its Application to a Wheel-Legged Robot

et al. 2020

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A three-DOF (degree-of-freedom) serial-parallel hybrid mechanism is proposed that consists of a 2-UPS+U component (UPS: universal-/prismatic-/spherical-joint chain and U: universal joint) and an R+RPS component (R: revolute joint and RPS: revolute-/prismatic-/spherical-joint chain). This mechanism can provide high precision and a large workspace, which indicates its applicability to wheel-legged robots. To verify our proposal, a mobility analysis showed that the mechanism simultaneously achieved three rotational movements. Then, the inverse/forward position analysis, velocity analysis, acceleration analysis, and stiffness analysis were carried out. Finally, a prototype of the mechanism was fabricated and its position error was found to be <1.8% despite the large workspace. These results demonstrate the effectiveness of our proposal and provide a new approach for designing new mechanisms for wheel-legged robots. INDEX TERMS Serial-parallel hybrid mechanism, 2-UPS+U mechanism, R+RPS mechanism, kinematics, wheel-legged robot.

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Section: Introductionmentioning

confidence: 99%

Kinematic Analysis of a Serial-Parallel Hybrid Mechanism and its Application to a Wheel-Legged Robot

et al. 2020

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“…Additionally, these hybrid robots can overcome uneven terrain surfaces or obstacles. Hybrid systems have a special kinematic structure (Gronowicz et al, 2014). Hence, they may be more versatile, particularly when performing more complex tasks, such as moving upstairs (Gonzalez et al, 2009).…”

Section: Introductionmentioning

confidence: 99%

“…Researchers generally focus on navigation and the planned path of the robot in the presence of obstacles. Usually, when an autonomous vehicle encounters an obstacle on its path, it will be able to evade it (Gronowicz et al, 2014). Such systems can be designed as wheeled machines and legged machines (Kemurdjian, 1998).…”

Section: Introductionmentioning

confidence: 99%

Differential geometry of autonomous wheel-legged robots

Bulut

2019

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Purpose The purpose of this study is to obtain the differential geometric analysis of autonomous wheel-legged robots and their trajectories on the terrain. Design/methodology/approach The author uses a wheel using the osculating sphere of the curve on rough terrain. Additionally, the author expresses a triple osculating sphere wheel by taking advantage of differential geometry. Moreover, the author examined the consecutive wheel center-curves to obtain the optimum posture of a micro-hydraulic toolkit (MHT) robot. Findings The author examined the terrain path, which is crucial for trajectory planning in terms of the geometric perspective. The author designed the triple MHT wheel using the osculating sphere of the MHT robot trajectory by taking advantage of local differential geometric properties of this curve on the terrain. The consecutive wheel center-curves were expressed and studied based on differential geometry. Originality/value The author provides a novel approach for the optimum posture of an MHT robot using consecutive wheel-center curves and provides an original perspective to MHT robot and its trajectory by using differential geometry.

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“…11 The wheel-legged robot LegVan was developed by the Wrocław University of Technology, Poland. 12 A hybrid wheeled-leg robot PAW was developed by McGill University, Canada. 13 In China, many universities and research institutes devoted to the study of the wheel-legged robot.…”

Section: Introductionmentioning

confidence: 99%

Study on structural modeling and kinematics analysis of a novel wheel-legged rescue robot

Niu

Wang

Shi

et al. 2018

International Journal of Advanced Robotic Systems

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This article presents a novel rescue robot with three-degrees of freedom leg mechanism based on the serial-parallel and wheel-legged mechanisms, which consists of two Universal joint-Prismatic joint-Spherical joint plus one Universal joint and Revolute joint serial-parallel mechanism. Firstly, the structure model of the whole mechanism and the leg mechanism is developed, the dimension parameters of leg mechanism are designed, and the degrees of freedom of the whole mechanism and the leg mechanism is analyzed. Secondly, the forward and backward position solutions of the swing leg and the standing leg are solved, and the work space is obtained. Thirdly, the kinematics is investigated by the influence coefficient method, including the Jacobi matrix and linear velocity and angular velocity of each rod's centroid of the leg mechanism. Finally, the simulation and experiment are carried out, and the feasibility of this wheel-legged rescue robot and the correctness of the above research are verified.

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Wheel-Legged Robot – Construction and Obstacle Detection Sensors

Cited by 7 publications

References 3 publications

Kinematic Analysis of a Serial-Parallel Hybrid Mechanism and its Application to a Wheel-Legged Robot

Kinematic Analysis of a Serial-Parallel Hybrid Mechanism and its Application to a Wheel-Legged Robot

Differential geometry of autonomous wheel-legged robots

Study on structural modeling and kinematics analysis of a novel wheel-legged rescue robot

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