Design of LegVan Wheel-Legged Robot’s Mechanical and Control System

Gronowicz, Antoni; Szrek, Jarosław

doi:10.1007/978-90-481-3522-6_11

Cited by 12 publications

(4 citation statements)

References 3 publications

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“…Currently, research on improving their mobility in difficult terrain is being conducted. One new solution that has been proposed are hybrid wheeledstepping robots [6][7][8].…”

Section: Introductionmentioning

confidence: 99%

A Mobile Robot with Omnidirectional Tracks—Design and Experimental Research

Fiedeń

Bałchanowski

2021

Applied Sciences

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This article deals with the design and testing of mobile robots equipped with drive systems based on omnidirectional tracks. These are new mobile systems that combine the advantages of a typical track drive with the advantages of systems equipped with omnidirectional Mecanum wheels. The omnidirectional tracks allow the robot to move in any direction without having to change the orientation of its body. The mobile robot market (automated construction machinery, mobile handle robots, mobile platforms, etc.) constantly calls for improvements in the manoeuvrability of vehicles. Omnidirectional drive technology can meet such requirements. The main aim of the work is to create a mobile robot that is capable of omnidirectional movement over different terrains, and also to conduct an experimental study of the robot’s operation. The paper presents the construction and principles of operation of a small robot equipped with omnidirectional tracks. The robot’s construction and control system, and also a prototype made with FDM technology, are described. The trajectory parameters of the robot’s operation along the main and transverse axes were measured on a test stand equipped with a vision-based measurement system. The results of the experimental research became the basis for the development and experimental verification of a static method of correcting deviations in movement trajectory.

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“…Currently, research on improving their mobility in difficult terrain is being conducted. One new solution that has been proposed are hybrid wheeledstepping robots [6][7][8].…”

Section: Introductionmentioning

confidence: 99%

A Mobile Robot with Omnidirectional Tracks—Design and Experimental Research

Fiedeń

Bałchanowski

2021

Applied Sciences

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“…When in wheeled locomotion, the robot is in a kneeling position with a lower center of gravity and a larger area of supporting polygons than in walking mode, thereby improving the stability of the body. Gronowicz et al [17] presented a novel solution of a wheel-legged robot equipped with a specially designed limb kinematic system; moreover, an idea of the posture-control system design was sketched and selected results of the tests conducted on the robot prototype were reported. The experimental results showed that the robot has two motion modes of gait driving and wheel driving.…”

Section: Introductionmentioning

confidence: 99%

Attitude-Oriented Stability Control with Adaptive Impedance Control for a Wheeled Robotic System on Rough Terrain

et al. 2023

Machines

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Base stability for a wheeled robot while driving over rough terrain is a challenging issue. This paper proposes a novel base-stability control framework, consisting of an AVIC (adaptive variable-impedance control), AVIC-based tracking controller, and a THV (terrain height variation) and AC (attitude control) AC-based controller to stabilize the base on rough terrain. The AVIC-based controller aims to track the desired trajectory of the robot base while suppressing lumped disturbance, including system uncertainties in the internal dynamics and unknown external disturbance. The THV-based controller is utilized as a feedforward controller to improve posture tracking performance in order to achieve a horizontal posture. The AC-based controller is employed to maintain the horizontal posture of the base. The effectiveness and robustness of the proposed controllers are validated by a series of numerical trials, and the results are evaluated.

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“…The differential kinematic model was used to control the generalized trajectory of the robot. Gronowicz et al 23 designed a mobile robot with four wheels-legs called LegVan. The design goal was to simplify chassis movement and reduce the control complexities.…”

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 of LegVan Wheel-Legged Robot’s Mechanical and Control System

Cited by 12 publications

References 3 publications

A Mobile Robot with Omnidirectional Tracks—Design and Experimental Research

A Mobile Robot with Omnidirectional Tracks—Design and Experimental Research

Attitude-Oriented Stability Control with Adaptive Impedance Control for a Wheeled Robotic System on Rough Terrain

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

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