A Compact and Agile Angled-Spoke Wheel-Based Mobile Robot for Uneven and Granular Terrains

Lee, Kyungwook; Ryu, Sijun; Kim, Chaewon; Seo, TaeWon

doi:10.1109/lra.2022.3141204

Cited by 10 publications

(6 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The intercept is a fixed value, and the change process of force with velocity and depth is mainly related to the slope, so we took the slope as the coefficient of variation. We obtained the α z,x by (10), and ε v , α z,x 10 , α z,x 20 , and α z,x 30 were calculated from the test results and are shown in Table 3. The ε v is calculated from the tests in Figures 3 and 4b.…”

Section: Sgrft Methodsmentioning

confidence: 99%

“…Fernandez et al improved the dragging ability of wheeled robots on dry granular media by anchoring, which shows that in addition to studying the mechanism, it is also important to adopt appropriate strategies [19]. Lee et al optimized the spoke-based wheels called DODO that run on granular media using the Taguchi method and L9 orthogonal array [20].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Granular Resistive Force Theory Extension for Saturated Wet Sand Ground

Wang

Liu

et al. 2022

Machines

View full text Add to dashboard Cite

Amphibious environments formed from sand and water present a formidable challenge to the running motion of field robots, as the mixing of granular media (GM) and water makes the force laws of robotic legs more complicated during robot running. To this end, we extended the granular resistive force theory (RFT) to saturated wet granular media, named saturated granular RFT (SGRFT), which can be suitable for saturated wet sand submerged in water. This method can extend RFT for dry GM to saturated wet granular media (SWGM) by using the method’s velocity and depth coefficient. The force laws of the robotic legs in dry GM and SWGM were tested, compared, and analyzed. The difference in force laws between the two kinds of media, from the sensitivity to speed (10 mm/s~50 mm/s) and depth (0~60 mm), was calculated. More than 70% of the prediction results of the horizontal resistive force using SGRFT have an error of less than 6%. The effectiveness of the SGRFT in legged robots is proved by simulation and testing of three kinds of legs. The difference in force laws when running is proved by the experiments of the robot equipped with the propeller-leg in dry GM and SWGM, which is vital for amphibious robots working in shoal environments (including dry GM and SWGM ground).

show abstract

Section: Sgrft Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Granular Resistive Force Theory Extension for Saturated Wet Sand Ground

Wang

Liu

et al. 2022

Machines

View full text Add to dashboard Cite

show abstract

“…Numerous I4.0 technologies have garnered substantial attention within the scholarly discourse. Prominent among these are machine learning, big data analytics, industrial IoT (Wu et al, 2016;Spieske and Birkel, 2021), AR, cloud computing and collaborative robot applications (Salunkhea and Berglunda, 2022;Sindhwani et al, 2022;Lee et al, 2022). Also, advanced manufacturing solutions, simulation, mobile computing and AR are considered the I4.0 enabler technologies as aptly posited by Sharma et al (2023b), Oesterreich and Teuteberg (2016) and Lepore et al (2021).…”

Section: Smart Supplymentioning

confidence: 99%

Can smart supply chain bring agility and resilience for enhanced sustainable business performance?

Sharma,

Antony,

Sharma

et al. 2024

IJLM

View full text Add to dashboard Cite

PurposeSupply chains need to be made viable in this volatile and competitive market, which could be possible through digitalization. This study is an attempt to explore the role of Industry 4.0, smart supply chain, supply chain agility and supply chain resilience on sustainable business performance from the lens of natural resource-based view.Design/methodology/approachThe study tests the proposed model using a covariance-based structural equation modelling and further investigates the ranking of each construct using the artificial neural networks approach in AMOS and SPSS respectively. A total of 234 respondents selected using purposive sampling aided in capturing the industry practices across supply chains in the UK. The full collinearity test was carried out to study the common method bias and the content validity was carried out using the item content validity index and scale content validity index. The convergent and discriminant validity of the constructs and mediation study was carried out in SPSS and AMOS V.23.FindingsThe results are overtly inferring the significant impact of Industry 4.0 practices on creating smart and ultimately sustainable supply chains. A partial relationship is established between Industry 4.0 and supply chain agility through a smart supply chain. This work empirically reinstates the combined significance of green practices, Industry 4.0, smart supply chain, supply chain agility and supply chain resilience on sustainable business value. The study also uses the ANN approach to determine the relative importance of each significant variable found in SEM analysis. ANN determines the ranking among the significant variables, i.e. supply chain resilience > green practices > Industry 4.0> smart supply chain > supply chain agility presented in descending order.Originality/valueThis study is a novel attempt to establish the role of digitalization in SCs for attaining sustainable business value, providing empirical support to the mediating role of supply chain agility, supply chain resilience and smart supply chain and manifests a significant integrated framework. This work reinforces the integrated model that combines all the constructs dealt with in silos so far in prior literature.

show abstract

“…Furthermore, there are other studies on the UGV platforms with wheels. Lee [9] proposed an angled spoke-based wheel design to enhance the driving speed of a mobile robot. Chen [10] researched an all-terrain mobile robot with a linkage suspension, and its complex kinematics and dynamic model are studied.…”

Section: Wheeled Type Ugv Platformmentioning

confidence: 99%

State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics

Yue

Zheng

et al. 2023

Robotica

View full text Add to dashboard Cite

This article presents a review of the platform configuration and dynamic of obstacle-surmounting unmanned ground vehicles (UGVs). For now, unmanned systems have emerged as a result of the rapid advancement of artificial intelligence and modern manufacturing techniques both domestically and internationally. The research on unmanned systems has been improved a lot. The UGV platform can execute transportation, recurring, and military tasks independently. For the high-level self-control, adaption, and maneuverability abilities, the UGV platform has been applied in the military, industry, and other special fields widely. The UGV platform usually performs tasks in an unstructured environment, so the all-terrain performance becomes a key factor restricting their operating efficiency and reliability. A brief literature review of the UGV platform is carried out in this article.

show abstract

A Compact and Agile Angled-Spoke Wheel-Based Mobile Robot for Uneven and Granular Terrains

Cited by 10 publications

References 25 publications

Granular Resistive Force Theory Extension for Saturated Wet Sand Ground

Granular Resistive Force Theory Extension for Saturated Wet Sand Ground

Can smart supply chain bring agility and resilience for enhanced sustainable business performance?

State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics

Contact Info

Product

Resources

About