Amphibious Wheels with a Passive Slip Mechanism for Transformation

Vijaychandra, Aditya; Alex, Chandykunju; Mathews, Michael; Sathar, Afsal A.

doi:10.1109/icarm.2019.8833739

Cited by 7 publications

(2 citation statements)

References 10 publications

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“…As an important field of robotics research, mobile robots integrate multiple functions such as visual recognition, trajectory planning, and mobile obstacle-crossing. They have not only been widely used in daily life, but also played an important role in the fields of aerospace exploration, military reconnaissance, rescue and disaster relief, and transportation of dangerous objects [1]. According to the movement mode, the existing mobile robots are mainly divided into the following four types: wheeled robots, legged robot, crawler robots and wheel-legged robots.…”

Section: Introductionmentioning

confidence: 99%

Configuration Design and Gait Analysis of Wheel-Legged Mobile Robot Based on the Rubik’s Cube Mechanism

Zeng

Dong

et al. 2022

IEEE Access

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In order to improve the obstacle-crossing ability, motion stability and load-bearing capacity of mobile robots for different terrains, the Rubik's Cube mechanism (RCM) with strong coupling and variable topology is introduced into the field of mobile robots, and a wheel-legged mobile robot (WLMR) based on RCM is proposed. Aiming at the problems of the classical three-order RCM, such as small internal space, difficult processing and demanding precision, a new type of chute third-order RCM is designed, and its mechanical characteristics analysis and feasibility analysis are carried out. What's more, a driving configuration analysis method is established according to different driving configuration relationships, and the configuration of WLMR is determined by the configuration stability analysis. Then, a WLMR with polymorphism is designed, and gait planning and gait stability analysis are conducted. Eventually, the cosimulation and prototype experiments are performed to verify the efficiency of the WLMR's straight motion, in-situ rotation, obstacle-crossing and morphology transformation in complex environments. This research not only provides a reference for the design of polymorphous mobile robots, but also opens up ideas for the application of the RCM in daily production and life.

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Section: Introductionmentioning

confidence: 99%

Configuration Design and Gait Analysis of Wheel-Legged Mobile Robot Based on the Rubik’s Cube Mechanism

Zeng

Dong

et al. 2022

IEEE Access

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“…Wheel-legged robots combine the terrain adaptability of legged robots and the speed of wheeled robots, [1][2][3][4][5][6] effectively improving the robot's ability to move on structured roads and cross obstacles on non-structured roads. Owing to their flexible and mobile characteristics, wheel-legged robots are gradually becoming a key research subject in robot development.…”

Section: Introductionmentioning

confidence: 99%

Stability analysis and design of an unmanned deformable vehicle during coupled reconfiguration motion

Liu

Yan

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part K:

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An unmanned deformable vehicle, which is a new type of robot combining a car and a robot, can drive at high speed with wheels and walk with steps. An unmanned deformable vehicle is prone to tipping instability when reconfigured between the automotive and humanoid states. The following work reported herein addresses these issues. The kinematic model of an unmanned deformed vehicle during the coupled reconfiguration process was established. The zero moment point (ZMP) theory was used as the stability criterion, and based on the requirement for stability during the reconstruction process, a genetic algorithm was used to find the optimal value of the support state foot landing position for the parking and driving coupled reconfiguration, and for the optimal value of the driving acceleration of the deformed vehicle during the driving coupled reconfiguration. On the basis of the optimal foot landing position, the total reconfiguration time threshold, deformed vehicle driving acceleration threshold, and support surface tilt angle threshold were analysed and calculated in accordance with stability requirements during the reconfiguration. Finally, the stability performance of the optimised system was verified through prototype testing.

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Structural Design and Gait Planning of Mobile Robot Based on the Rubik's Cube Mechanism

Zeng

et al. 2022

Lecture Notes in Computer Science

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Amphibious Wheels with a Passive Slip Mechanism for Transformation

Cited by 7 publications

References 10 publications

Configuration Design and Gait Analysis of Wheel-Legged Mobile Robot Based on the Rubik’s Cube Mechanism

Configuration Design and Gait Analysis of Wheel-Legged Mobile Robot Based on the Rubik’s Cube Mechanism

Stability analysis and design of an unmanned deformable vehicle during coupled reconfiguration motion

Structural Design and Gait Planning of Mobile Robot Based on the Rubik's Cube Mechanism

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