Design and optimization of wheel-legged robot: Rolling-Wolf

Luo, Yan; Li, Qimin; Liu, Zhangxing

doi:10.3901/cjme.2014.0905.144

Cited by 17 publications

(11 citation statements)

References 16 publications

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“…Moreover, since most wheel-legged robots have no elastic system, the traditional modelling method is to regard the robot as a multi-rigid-body, but for the robots with elastic elements in their structure, it will lead to huge error. For example, Luo et al [22] depicted a wheel-legged robot with an elastic structure, and the simulation and experimental results showed that the robot achieved posture control and vibration isolation performance in unstructured terrain, but the control accuracy is affected since the elastic element is regarded as a rigid body. Jiang et al [1] proposed a wheellegged robot that can travel over unstructured terrain based on active posture control and passive spring-damping system, however, the spring-damping system is still regarded as a rigid body when modelling.…”

Section: Introductionmentioning

confidence: 99%

Posture Control of a Four-Wheel-Legged Robot With a Suspension System

2020

IEEE Access

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To achieve posture control and ride comfort (vibration isolation performance) of a robot in unstructured terrain, a novel four-wheel-legged robot (FWLR) with an actively-passively suspension system is first designed. In the suspension system, the active parts are responsible for posture control and the passive parts are responsible for vibration isolation. Then, a closed-loop and decoupled posture control model with 11 DOF are proposed, with which we designed the posture controller with a second-order lowpass filter (SLPF). To test the posture control performance of FWLR in unstructured terrain, both simulation and experiment are carried out, the simulation and experimental results show that the posture angles in unstructured terrain are reduced by 54.65% and 59% on average, respectively. In addition, the frequency response shows that the posture angles are reduced by more than 50% in low-frequency unstructured terrain. Finally, to validate the ride comfort of FWLR, dynamic models with different degrees of freedom (DOF) are established and simulated, and the results present that the ride comfort can be improved with the posture angular acceleration is reduced by 15.83% and 46.7% on average. Generally, with the actively-passively suspension system proposed in this paper, FWLR can be equipped with excellent ride comfort and posture control in unstructured terrain. The research in this paper has potential reference value and practical value for enriching the posture control of robots and vehicles.

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Section: Introductionmentioning

confidence: 99%

Posture Control of a Four-Wheel-Legged Robot With a Suspension System

2020

IEEE Access

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“…The common feature of them is that the legs are in the shape of an arc, which can be used as a wheel to roll when closed and as a leg to walk when opened. For instance, the two Quattroped wheel-leg transformable robot dog designed by National Taiwan University [9] and the wheel-leg transformable robot dog developed by Osaka University in Japan [10] . The leg structure and control of these designs are relatively complex.…”

Section: Introductionmentioning

confidence: 99%

Design and Development of the Wheel-legged Robot Dog Kara

Sun¹,

Yang²,

Chen³

et al. 2019

dtcse

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Due to its advantages of high speed, good stability, easy control, low energy consumption and strong adaptability to complex terrain, the wheel-legged robot dog has developed rapidly in recent years. The common wheel-leg switchable robot dog has a simple structure, but it needs to be equipped with four wheels, which will not only affect the appearance and the working space of the joints near the wheels, but also result in a more complex control. Kara designed in this paper, which is a wheeled mobile robot when its thighs and shanks are closed or a quadruped robot when its thighs and shanks opened. The results of gait planning and dynamics simulation show that Kara has simple structure, easy to control and can achieve both stable wheeled movement and legged walking.

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“…The design goal was to simplify chassis movement and reduce the control complexities. Moreover, The State University of New York at Buffalo, 24 Yokohama National University, 25 Yanshan University, 26 and many other research institutes [27][28][29][30] have conducted in-depth research and performance analysis on the structural design of this type of wheel-legged robots.…”

Section: Introductionmentioning

confidence: 99%

Design and analysis for a multifunctional rescue robot with four-bar wheel-legged structure

Meng

Chen

et al. 2018

Advances in Mechanical Engineering

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Rescue robots can replace rescue workers in search and rescue missions in unknown environments and hence play an important role in disaster relief. To realize the advantages of high carrying capacity, easy control, and simple structure to adapt to a complex disaster scene, a novel wheel-legged rescue robot, integrated with rescue function modules, was designed for the present work. Three motion states were analyzed in detail. Mechanical properties were studied to provide basis for parameter optimization. The performance indices, which include mechanical properties, motion amplitudes and movement stability, were proposed, and the structural parameters were further analyzed and optimized based on these performance indices to make the overall performance of the robot achieve the best. Results show that the motion state of the wheel-legged rescue robot can perform real-time transformations and hence can be used in complex environments.

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Design and optimization of wheel-legged robot: Rolling-Wolf

Cited by 17 publications

References 16 publications

Posture Control of a Four-Wheel-Legged Robot With a Suspension System

Posture Control of a Four-Wheel-Legged Robot With a Suspension System

Design and Development of the Wheel-legged Robot Dog Kara

Design and analysis for a multifunctional rescue robot with four-bar wheel-legged structure

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