“…In order to generate and convert gait, TALBOT is controlled in the legged mode using a bionic control technique of the central pattern generator. A revolutionary wheel-legged UGV known as “Dragon Horse” [53] (shown in Fig. 8(e)) was presented.…”
Section: Research Status Of Ugv Platformmentioning
confidence: 99%
“…8(f)) was a two-wheeled balancing robot with the ability to move swiftly over flat terrain and jump over obstacles. The mechanical design of the system, which was 3D-printed and topology-optimized, had proven to be both light and impact-resistant. Figure 8. Complex mobile type UGV platform: (a) EPFL wheel-leg type platform Shrimp [49]; (b) Tencent Robotics X laboratory Ollie [50]; (c) the latest incarnation of ANYmal: Swiss-Mile [51]; (d) tracked-leg transformable robot platform TALBOT [52]; (e) a horse inspired eight-wheel ugv Dragon Horse [53, 55]; (f) wheel-leg jumping robot platform Ascento [54]. …”
Section: Research Status Of Ugv Platformmentioning
confidence: 99%
“…Complex mobile type UGV platform: (a) EPFL wheel-leg type platform Shrimp [49]; (b) Tencent Robotics X laboratory Ollie [50]; (c) the latest incarnation of ANYmal: Swiss-Mile [51]; (d) tracked-leg transformable robot platform TALBOT [52]; (e) a horse inspired eight-wheel ugv Dragon Horse [53, 55]; (f) wheel-leg jumping robot platform Ascento [54]. …”
Section: Research Status Of Ugv Platformmentioning
confidence: 99%
“…In ref. [53], to guarantee the “Dragon Horse” had the maximum ability of obstacle surmounting, the authors performed a dynamic analysis of surmounting an obstacle. There was an assumption that the surmounting process was slow, and the process could be divided into two main stages (shown in Fig.…”
Section: Research Status Of Obstacle-surmounting Mechanism and Its Pe...mentioning
confidence: 99%
“…These discrete spheres would pulsate in contact with the ground, which was described as simulating the elastic deformation effect of the tire. Consequently, it could affect the dynamic performance of obstacle-surmounting more accurately. Figure 12. Obstacle-surmounting dynamics model of the UGV “Dragon Horse” [53, 55]: (a) adaptation process; (b) crossing process.…”
Section: Research Status Of Obstacle-surmounting Mechanism and Its Pe...mentioning
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.
“…In order to generate and convert gait, TALBOT is controlled in the legged mode using a bionic control technique of the central pattern generator. A revolutionary wheel-legged UGV known as “Dragon Horse” [53] (shown in Fig. 8(e)) was presented.…”
Section: Research Status Of Ugv Platformmentioning
confidence: 99%
“…8(f)) was a two-wheeled balancing robot with the ability to move swiftly over flat terrain and jump over obstacles. The mechanical design of the system, which was 3D-printed and topology-optimized, had proven to be both light and impact-resistant. Figure 8. Complex mobile type UGV platform: (a) EPFL wheel-leg type platform Shrimp [49]; (b) Tencent Robotics X laboratory Ollie [50]; (c) the latest incarnation of ANYmal: Swiss-Mile [51]; (d) tracked-leg transformable robot platform TALBOT [52]; (e) a horse inspired eight-wheel ugv Dragon Horse [53, 55]; (f) wheel-leg jumping robot platform Ascento [54]. …”
Section: Research Status Of Ugv Platformmentioning
confidence: 99%
“…Complex mobile type UGV platform: (a) EPFL wheel-leg type platform Shrimp [49]; (b) Tencent Robotics X laboratory Ollie [50]; (c) the latest incarnation of ANYmal: Swiss-Mile [51]; (d) tracked-leg transformable robot platform TALBOT [52]; (e) a horse inspired eight-wheel ugv Dragon Horse [53, 55]; (f) wheel-leg jumping robot platform Ascento [54]. …”
Section: Research Status Of Ugv Platformmentioning
confidence: 99%
“…In ref. [53], to guarantee the “Dragon Horse” had the maximum ability of obstacle surmounting, the authors performed a dynamic analysis of surmounting an obstacle. There was an assumption that the surmounting process was slow, and the process could be divided into two main stages (shown in Fig.…”
Section: Research Status Of Obstacle-surmounting Mechanism and Its Pe...mentioning
confidence: 99%
“…These discrete spheres would pulsate in contact with the ground, which was described as simulating the elastic deformation effect of the tire. Consequently, it could affect the dynamic performance of obstacle-surmounting more accurately. Figure 12. Obstacle-surmounting dynamics model of the UGV “Dragon Horse” [53, 55]: (a) adaptation process; (b) crossing process.…”
Section: Research Status Of Obstacle-surmounting Mechanism and Its Pe...mentioning
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.
Legged robots use isolated footholds to support, which have the merit of good terrain trafficability but lack speed ability. In contrast, wheeled robots have the advantages of high speed and efficiency but only run on flat roads. To improve the moving speed and terrain adaptability of the legged robot, this paper proposes a bioinspired multimode octopod robot with rolling, walking, and obstacle-surmounting modes. First, inspired by the multimode locomotion of the Cebrennus rechenbergi spider, the high-speed mobility of the legged robot is realized in involute kick-rolling mode through the extendable appendages. Then, the foot and appendage trajectories are analyzed by kinematic method and optimized for walking stability. Based on the static and the kinematic analyses, the terrain adaptability is improved by adhesive obstacle-surmounting mode with the assistance of the appendages affiliated to the main feet. The deformable trunk with one DoF is designed to switch between three modes. Finally, a series of dynamic simulations and experiments are carried out to verify the theoretical analyses of the adhesive obstacle-surmounting mode and the mobility of the involute kick-rolling mode. It is shown that the multimode octopod robot can integrate the advantages of high speed and good terrain trafficability from different types of robots and is suitable for performing tasks in unstructured terrains.
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