Comparison between different sets of suspension parameters and introduction of new modified skyhook control strategy incorporating varying road condition

Kashem, Saad Bin Abul; Ektesabi, Mehran; Nagarajah, Romesh

doi:10.1080/00423114.2012.659743

Cited by 39 publications

(16 citation statements)

References 35 publications

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“…[24,25] The measures of the ride comfort considered here are the peak, the RMS and the weighted RMS (WRMS) values of the sprung mass acceleration and its crest factor. The WRMS acceleration is obtained by The filtered sprung mass acceleration closely matches the acceleration perceived by a human passenger.…”

Section: Simulation Resultsmentioning

confidence: 99%

Dual objective active suspension system based on a novel nonlinear disturbance compensator

Deshpande

Shendge

Phadke

2016

Vehicle System Dynamics

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This paper proposes an active suspension system to fulfil the dual objective of improving ride comfort while trying to keep the suspension deflection within the limits of the rattle space. The scheme is based on a novel nonlinear disturbance compensator which employs a nonlinear function of the suspension deflection. The scheme is analysed and validated by simulation and experimentation on a laboratory setup. The performance is compared with a passive suspension system for a variety of road profiles. ARTICLE HISTORY

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Section: Simulation Resultsmentioning

confidence: 99%

Dual objective active suspension system based on a novel nonlinear disturbance compensator

Deshpande

Shendge

Phadke

2016

Vehicle System Dynamics

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“…Whereas, the presented robot in this paper has been designed using a proper legged mechanism, which can support swimming and suitable walking phenomena. The initial design and prototype of the designed duck feet robot are reported in [1], and some modifications were done in [21][22][23][24][25][26]. In this manuscript, the final design, layout of the electrical circuit, the final prototype with dimensions, and testing results have been provided.…”

Section: Literature Reviewmentioning

confidence: 99%

Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

et al. 2019

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Roaming complexity in terrains and unexpected environments pose significant difficulties in robotic exploration of an area. In a broader sense, robots have to face two common tasks during exploration, namely, walking on the drylands and swimming through the water. This research aims to design and develop an amphibious robot, which incorporates a webbed duck feet design to walk on different terrains, swim in the water, and tackle obstructions on its way. The designed robot is compact, easy to use, and also has the abilities to work autonomously. Such a mechanism is implemented by designing a novel robotic webbed foot consisting of two hinged plates. Because of the design, the webbed feet are able to open and close with the help of water pressure. Klann linkages have been used to convert rotational motion to walking and swimming for the animal’s gait. Because of its amphibian nature, the designed robot can be used for exploring tight caves, closed spaces, and moving on uneven challenging terrains such as sand, mud, or water. It is envisaged that the proposed design will be appreciated in the industry to design amphibious robots in the near future.

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“…Whereas, the presented robot in this paper has been designed using a proper legged mechanism, which can support swimming and suitable walking phenomena. The initial design and prototype of designed duck feet robot is reported in [1] and some modification had been done in [21][22][23][24][25][26]. In this manuscript, the final design, layout of the electrical circuit, the final prototype with dimensions and testing results have been provided.…”

Section: Literature Reviewmentioning

confidence: 99%

Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

Kashem¹,

Jawed²,

Ahmed³

et al. 2019

Preprint

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Roaming complexity in terrains and unexpected environments poses significant difficulties in robotic exploration of an area. In a broader sense, robots have to face two common tasks during exploration namely walking on the drylands and swimming through the water. This research aims to design and develop an amphibious robot, which incorporates webbed duck feet design to walk on different terrains, swim in water and tackle obstructions on its way. The designed robot is compact and easy-to-use and also has the abilities to work autonomously. Such a mechanism is implemented by designing a novel robotic webbed foot consisting of two hinged plates. Due to the design, the webbed feet are able to open and close with the help of water pressure. The Klann linkage has been used to convert rotational motion to walking and swimming as an animal's gait. Because of its amphibian nature, the designed robot can be used for exploring the tight caves, closed spaces and moving on uneven challenging terrains such as sand, mud or water.The presented model and design of the amphibious robot has been inspired by the working principle of duck feet. The propulsion generated through this feet system has been observed to be better and more controlled then the initial design and prototype of designed duck feet robot reported in [1]. The direction of movement can be managed, and the speed can be controlled using a larger contact area with water. Since duck is able to roam on both land and water, their feet movement during walking and swimming is adopted in designing the robot's four legs. Klann linkage is used to mimic such duck feet motion and the control mechanism of the feet is driven by DC motors and DC servo motors which are governed by an Arduino microcontroller. The robot is capable of sensing the presence of water through conductive sensors and detects obstacles using ultrasonic sensor while walking. Due to its amphibian nature and other features in movement, the robot is capable of traversing diversified terrains. It is envisaged that the proposed design will be appreciated in the industry to design amphibious robots in near future.

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Comparison between different sets of suspension parameters and introduction of new modified skyhook control strategy incorporating varying road condition

Cited by 39 publications

References 35 publications

Dual objective active suspension system based on a novel nonlinear disturbance compensator

Dual objective active suspension system based on a novel nonlinear disturbance compensator

Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

Design and Implementation of a Quadruped Amphibious Robot Using Duck Feet

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