2-Dimensional Dynamic Analysis of Inverted Pendulum Robot With Transformable Wheel for Overcoming Steps

Kim, Sanggyun; Ryu, Sijun; Won, Jee Ho; Kim, Hwa Soo; Seo, TaeWon

doi:10.1109/lra.2021.3096509

Cited by 8 publications

(5 citation statements)

References 18 publications

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“…Based on results obtained in the abovementioned papers [30,38], two cases were analyzed regarding the choice of the set of independent variables, namely:…”

Section: Methodsmentioning

confidence: 99%

“…From the combination of these structural elements made at different scales, it resulted in three sets of prototypes and models. New contributions in the domain can be found in [36][37][38][39][40][41][42]. In the next section, the following are presented: the original testing bench of these structural elements; block diagram of the original electronic heating and control system; the basic considerations regarding the particularity of this heating system from the point of view of heat transfer; measurement data, purchased both for nonthermally protected elements and for those protected with layers of intumescent paints.…”

mentioning

confidence: 99%

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Experimental Validation of Model Heat Transfer in Rectangular Hole Beams Using Modern Dimensional Analysis

et al. 2022

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Based on the Szirtes’ modern dimensional analysis (MDA), the authors apply the theory to a real structure in order to validate by experimental measurements its applicability. After a presentation of the basic elements of the model law (ML), deduced for two relevant cases, the authors conceived the set of prototypes and models, based on the case of an actual construction pillar, physically performed at scales of 1:1, 1:2, and 1:4. The combination of these structural elements, made at different scales, resulted in three sets of prototypes and models. In this paper, taking into consideration the ML for two relevant cases, the following are presented: the original test stand of these structural elements; block diagram of the original electronic heating and control system; the basic considerations regarding the particularity of this heating system from the point of view of heat transfer; measurement data, obtained for both nonthermally protected elements and for those protected with layers of intumescent paints. In the last part of the paper, the values obtained by rigorous direct measurements with those offered by the ML on the elements considered as prototypes and models are compared. Almost identical values were obtained from the direct measurements with those provided by the ML, thus resulting in the validation of these laws. The same thermal regimes were applied to all these structural elements, with registration of every parameter related to these thermal regimes. Depending on the role of a structural element within a certain set (prototype-model), some of the measurement data were considered as data acquired directly through measurements, and others served as reference elements for those for which we had to obtain through the model law. In the last part of the paper, the sizes obtained by rigorous direct measurements are compared with those offered by the model law on the elements considered as prototypes and models. Identical practical values of the quantities were obtained from the direct measurements with those provided by the model law, thus resulting in the validation of these laws.

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“…Based on results obtained in the abovementioned papers [30,38], two cases were analyzed regarding the choice of the set of independent variables, namely:…”

Section: Methodsmentioning

confidence: 99%

mentioning

confidence: 99%

Experimental Validation of Model Heat Transfer in Rectangular Hole Beams Using Modern Dimensional Analysis

et al. 2022

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“…The mechanism inherently exhibits an asymmetric architecture, limiting workspace and input torque distribution. Additionally, the asymmetric motion feature poses challenges for control based on the r - model, requiring the intervention of a driving motor to compensate for lobe movement 28 . In summary, the current 7 bar transformable wheel mechanism inherently has asymmetry and workspace limitations due to the linear guide.…”

Section: Introductionmentioning

confidence: 99%

2 DOF transformable wheel design based on geared 8 bar parallel linkage mechanism

Yoon,

Kim,

Park

et al. 2024

Sci Rep

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This paper introduces a novel design and static optimization for a two-degrees-of-freedom transformable wheel based on a geared linkage mechanism. Overcoming obstacles, including stairs, with small wheels is a major challenge in the field of mobile robotics research. Among various robots, the transformable wheel, which can change the shape of the wheel to overcome steps and optimize the path, was presented and has undergone many improvements. Nevertheless, problems such as asymmetry and structural strength remain. Therefore, the design of this paper aims to address the structural inefficiencies identified in the previous research model, which were attributed to the asymmetric placement of the linear motion guide. Through the implementation of this mechanism, the linear motion of the lobe can be segregated, enabling each input motor to share the workload effectively. The optimization process focus on determining the optimal linkage length under static conditions, resulting in improved structural characteristics and force distribution of linkage within the designated workspace. As a result, asymmetry of motion is eliminated, required intervention angle of the driving motor and stress of linkage was reduced by 36.24% and 8.35%, respectively.

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“…The robots that change their legs, Zheng et al [20] use an adaptive wheel based on a gear mechanism for multi-terrain locomotion. An adaptive wheel is also used by Kim et al [21] which uses a reconfigurable parallel mechanism to overcome stairways. The robot in [22] uses a directionally flexible, reconfigurable leg with a return spring to overcome obstacles.…”

Section: Introductionmentioning

confidence: 99%

A Bio-Inspired Adjustable Posture Quadruped Robot with Laterally Undulating Spine for Terradynamically Challenging Environments

Dutta,

Aydin

2024

Preprint

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Adaptation of morphology in response to varying environments is a crucial feature seen in biological organisms. While some robots emulate adaptability through the use of adaptive body parts, practical implementation of morphological transformations in robotics remains limited. This limitation arises due to the complexity of such transformations, demanding the fusion of advanced materials, control systems, and design approaches. In our paper, we introduce a bioinspired quadruped robot equipped with a laterally undulating spine, designed to adapt its posture specifically for navigating complex terradynamic environments. Leveraging a symmetrical parallelogram mechanism, this robot can alter both height and width, enabling traversal across varied surfaces, collision avoidance, passage through narrow channels, and obstacle negotiation. Additionally, our robot’s innovative design strategically positions its center of gravity within its support triangle throughout the gait cycle using lateral undulation, eliminating the need for posture-stabilizing sensors or learning algorithms.

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2-Dimensional Dynamic Analysis of Inverted Pendulum Robot With Transformable Wheel for Overcoming Steps

Cited by 8 publications

References 18 publications

Experimental Validation of Model Heat Transfer in Rectangular Hole Beams Using Modern Dimensional Analysis

Experimental Validation of Model Heat Transfer in Rectangular Hole Beams Using Modern Dimensional Analysis

2 DOF transformable wheel design based on geared 8 bar parallel linkage mechanism

A Bio-Inspired Adjustable Posture Quadruped Robot with Laterally Undulating Spine for Terradynamically Challenging Environments

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