Design and analysis of a wheel-legged hybrid locomotion mechanism

Zheng, Caixia; Liu, Jinhao; Grift, Tony E.; Zhang, Zichao; Sheng, Tao; Zhou, Jiangwenjie; Ma, Yuliang; Yin, Ming Fu

doi:10.1177/1687814015616908

Cited by 9 publications

(7 citation statements)

References 11 publications

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“…In France, a robot with a combination of legs and wheels for rugged driving has been proposed. After developing a velocity model by analyzing the kinematics of the robot, researches have been carried out to improve the driving stability of the vehicle [3][4][5][6][7]. Nagano and Fujimoto of Yokohama University in Japan proposed an acceleration-based kinematic model for the movement and control of mobile robot combined with bridge and wheel, and developed an algorithm to generate robot control path of Least squares method of solving Singular configuration problem [9].…”

Section: Fig 1 International Disaster Trends (1964~2016)mentioning

confidence: 99%

A Study on the Modeling of Independently Driven Quadruped Crawler System for Posture Control of Special Purpose Machine for Disaster Response

Lee¹,

Ha²,

Kim³

et al. 2017

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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The crawler-leg mobile system is a sub-mechanism of special purpose machines for the early stage rescue and reconstruction in disaster. This system plays a role in controlling the posture to prevent rollover when the special purpose machine is running on rough terrain. In this paper, a mechanism is introduced for posture control of a crawler-leg mobile system and coordinates for mathematical model is define. Using defined coordinates, a mathematical model based on differential kinematics is proposed for posture control system. The validity of the mathematical model is verified by comparing the results of the proposed mathematical model and the multi body dynamics simulation model. And a mathematical model is proposed for posture control of the crawler-leg mobile system.

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Section: Fig 1 International Disaster Trends (1964~2016)mentioning

confidence: 99%

A Study on the Modeling of Independently Driven Quadruped Crawler System for Posture Control of Special Purpose Machine for Disaster Response

Lee¹,

Ha²,

Kim³

et al. 2017

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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“…Although not exactly in the same category, there are some other legged-wheeled locomotion projects, such as the robots ASGUARD [5], WR-3 [6], EHR [7], Quattroped [8], WheelTransformer [9], TH-Weng [10], and the work presented by Qiao et al [11].…”

Section: Introductionmentioning

confidence: 99%

Design, Modeling, and Control of a Single Leg for a Legged-Wheeled Locomotion System with Non-Rigid Joint

2021

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This article presents an innovative legged-wheeled system, designed to be applied in a hybrid robotic vehicle’s locomotion system, as its driving member. The proposed system will be capable to combine the advantages of legged and wheeled locomotion systems, having 3DOF connected through a combination of both rigid and non-rigid joints. This configuration provides the vehicle the ability to absorb impacts and selected external disturbances. A state space approach was adopted to control the joints, increasing the system’s stability and adaptability. Throughout this article, the entire design process of this robotic system will be presented, as well as its modeling and control. The proposed system’s design is biologically inspired, having as reference the human leg, resulting in the development of a prototype. The results of the testing process with the proposed prototype are also presented. This system was designed to be modular, low-cost, and to increase the autonomy of typical autonomous legged-wheeled locomotion systems.

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“…Legged robots have the best moving performance on rough terrain, with the disadvantages of slow speed and complicated mechanism and control systems [14][15][16]. At present, the wheel-leg hybrid mobile robot has become the focus of research because many of the advantages of wheeled and legged robots can be integrated [17][18][19]. In order to adapt to the complex terrain environment and solve the operation problems in the unstructured environment, the wheel-leg hybrid robot becomes the best solution [20].…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of Steering and Lifting Mechanisms for Forestry Vehicle Chassis

Kang

2020

Mathematical Problems in Engineering

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Due to its special topographical structure, the forest working environment requires a vehicle chassis that can adapt well to complex terrain conditions. This article describes the key components of a chassis that was designed to adapt to complex terrain. The working principle and structural design of the steering structure and the lifting structure are analyzed in detail, and function verification is carried out. The steering mechanism has three degrees of freedom, and the first degree of freedom reduces the body’s inclination by 30°. The second degree of freedom can increase the steering angle of the chassis to 47°, decreasing the turning radius of the chassis. The third degree of freedom reduces the body rollover inclination by 30°. The entire steering mechanism enhances the ride and stability of the chassis. With the lifting mechanism, the wheel-legs are lifted so that the chassis can pass a limit height of 187 mm, and the wheel-legs are lowered to raise the center of gravity of the vehicle chassis by 244 mm. The entire lifting mechanism greatly improves the vehicle's ability to cross forest terrain. The size is reduced by 10% compared to other structures, and the lifting height and obstacle resistance are improved by 12.7%.

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Design and analysis of a wheel-legged hybrid locomotion mechanism

Cited by 9 publications

References 11 publications

A Study on the Modeling of Independently Driven Quadruped Crawler System for Posture Control of Special Purpose Machine for Disaster Response

A Study on the Modeling of Independently Driven Quadruped Crawler System for Posture Control of Special Purpose Machine for Disaster Response

Design, Modeling, and Control of a Single Leg for a Legged-Wheeled Locomotion System with Non-Rigid Joint

Design and Analysis of Steering and Lifting Mechanisms for Forestry Vehicle Chassis

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