Design of terrain adaptive versatile crawler vehicle HELIOS-VI

Hirose, Shigeo; Fukushima, Edwardo F.; Damoto, R.; Nakamoto, Hiroyuki

doi:10.1109/iros.2001.977198

Cited by 47 publications

(32 citation statements)

References 5 publications

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“…10b), locomotion is never exclusively performed by the wheels; the two front wheels are added not to improve energy efficiency, but to increase stair climbing capabilities (Hirose et al, 2001).…”

Section: Wheel-track Hybrid Locomotion Systemsmentioning

confidence: 99%

Review article: locomotion systems for ground mobile robots in unstructured environments

2012

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Abstract. The world market of mobile robotics is expected to increase substantially in the next 20 yr, surpassing the market of industrial robotics in terms of units and sales. Important fields of application are homeland security, surveillance, demining, reconnaissance in dangerous situations, and agriculture. The design of the locomotion systems of mobile robots for unstructured environments is generally complex, particularly when they are required to move on uneven or soft terrains, or to climb obstacles. This paper sets out to analyse the state-of-the-art of locomotion mechanisms for ground mobile robots, focussing on solutions for unstructured environments, in order to help designers to select the optimal solution for specific operating requirements. The three main categories of locomotion systems (wheeled – W, tracked – T and legged – L) and the four hybrid categories that can be derived by combining these main locomotion systems are discussed with reference to maximum speed, obstacle-crossing capability, step/stair climbing capability, slope climbing capability, walking capability on soft terrains, walking capability on uneven terrains, energy efficiency, mechanical complexity, control complexity and technology readiness. The current and future trends of mobile robotics are also outlined.

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Section: Wheel-track Hybrid Locomotion Systemsmentioning

confidence: 99%

Review article: locomotion systems for ground mobile robots in unstructured environments

2012

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“…The focus is mainly on the adoption and development of traditional obstacle-navigation mechanisms to realize the stair-climbing performance. Such mature obstacle-navigation mechanisms that are applied to the wheelchair robot such as wheel mechanism [1,2], leg type mechanism [3][4][5], crawler mechanism [6] and their composite mechanism [7] have their own advantages and disadvantages. This paper employs WT wheelchair robot developed by Ting Wang in Shenyang Institute of automation, the Chinese Academy of Sciences, as the experimental platform, which uses a deformable wheel-tracked obstacle-navigation mechanism and also introduces complicated holonomic constraints.…”

Section: Introductionmentioning

confidence: 99%

Active tension optimal control for WT wheelchair robot by using a novel control law for holonomic or nonholonomic systems

Wang

Yao

et al. 2014

Sci. China Inf. Sci.

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The characteristics of interaction between WT wheelchair robot and stair environments is analyzed and possible patterns of WT wheelchair robot during the stair-climbing process are summarized, with criteria to determine the pattern of the wheelchair robot proposed. Aiming at the complicated mechanism of WT wheelchair robot with holonomic constraints and combining it with the dynamic programming, namely the Hamilton-Jacobi equation, a new control law called active tension optimal control is presented for holonomic or nonholonomic robotic systems, based on which one can make the wheelchair robot with a holonomic or nonholonomic mechanism track the expected reference input of constraint forces of holonomic or nonholinomic constraints as well as track the expected reference input of the generalized coordinate of each joint. The module STATEFLOW in MATLAB is used to simulate the entire stair-climbing process of WT wheelchair robot, and comparison is made between the output curves of each joint and the tension of the track and the expected reference input curves, which verifies the effectiveness of the proposed control law. Keywordswheelchair robot, stair-climbing, holonomic or nonholonomic systems, active tension optimal control CitationWang J, Wang T, Yao C, et al. Active tension optimal control for WT wheelchair robot by using a novel control law for holonomic or nonholonomic systems.

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“…Some disadvantages of these crawler systems are that the entire track is forced to rotate on the edge of the first step when initiating a descent (a difficult and dangerous operation), and low locomotion efficiency in barrier free environments. In the wheel type, the energy efficiency when moving on flat terrain is higher than that in other types, and this type has been the most popular mechanism [9,10]. The problem with these systems occurs when architectural barriers appear.…”

Section: Introductionmentioning

confidence: 99%

“…In these cases, the wheels must be assisted to traverse obstacles. A commonly used solution is to group two, three, or four wheels in a rolling cluster [7,11,[8][9][10]12,13]. While the mechanical design is quite simple, the chairs are very sophisticated since they rely on dynamic control to maintain an upright position.…”

Section: Introductionmentioning

confidence: 99%

Optimized obstacle avoidance trajectory generation for a reconfigurable staircase climbing wheelchair

Morales

Feliú

González

2010

Robotics and Autonomous Systems

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Design of terrain adaptive versatile crawler vehicle HELIOS-VI

Cited by 47 publications

References 5 publications

Review article: locomotion systems for ground mobile robots in unstructured environments

Review article: locomotion systems for ground mobile robots in unstructured environments

Active tension optimal control for WT wheelchair robot by using a novel control law for holonomic or nonholonomic systems

Optimized obstacle avoidance trajectory generation for a reconfigurable staircase climbing wheelchair

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