Development of Body Rotational Wheeled Robot and its Verification of Effectiveness

Sim, Byeong-Seop; Kim, Kun-Jung; Yu, Kee-Ho

doi:10.1109/icra40945.2020.9197047

Cited by 5 publications

(3 citation statements)

References 15 publications

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“…The results in Figs. [25][26][27][28] show that the normal force, drawbar pull, wheel torque, and tractive coefficient when the robot movement is on the downhill side exceed those when the robot is on the uphill side because of the load concentration in the uncontrolled case. In the same case, the drawbar pull on the uphill wheel side is approximately (−9.2)-(−0.5), as shown in Fig.…”

Section: ) Results Of Slope-climbing Field Testmentioning

confidence: 99%

“…The basic idea of the proposed mechanism was presented as preliminary work in a previous study of the authors [25] in which a mechanical model was developed and tested indoors on a rigid surface. However, from the realistic point of view, the mobility performance of the robot on a complex deformable terrain and the appropriate control strategy have not been well explored.…”

Section: Introductionmentioning

confidence: 99%

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Development of Body Rotation Mechanism for Wheeled Robot to Enhance Trafficability and Overcome Mobility Limitation

Kim

Sim²,

2021

IEEE Access

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A wheeled robot operating on various complex terrains with scattered obstacles and steep slopes must be capable of surmounting obstructions and coping with the extreme driving environment. This paper proposes a body rotation mechanism that controls the load distribution on the robot wheel for the robot to surmount rocky obstacles and steadily ascend deformable slopes. This work formulates a robot dynamics model based on the wheel-complex terrain interaction model to analyze the mechanical effect of the proposed body rotation mechanism. Moreover, an optimal body rotation configuration integrating the robot dynamics model and non-dominated sorting genetic algorithm-II is obtained to choose the appropriate body rotation control strategy. The numerical analysis results conclusively prove the effectiveness of the proposed mechanism. The robot with its fabricated platform is field tested by allowing it to surmount a rocky obstacle and ascend a deformable slope. The results indicate that the proposed body rotation mechanism is an effective approach for enhancing the mobility of a wheeled robot in traversing complex terrains.

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Section: ) Results Of Slope-climbing Field Testmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Development of Body Rotation Mechanism for Wheeled Robot to Enhance Trafficability and Overcome Mobility Limitation

Kim

Sim²,

2021

IEEE Access

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“…Compared to the aforementioned studies, Ref. [ 5 ] proposes a novel rover design, which aims to use the rover’s rotating body to adjust the rover’s attitude through the roll and pitch rotation operations. The experiments show that the design can effectively improve the rover’s traversability on solid sloped surfaces.…”

Section: Related Workmentioning

confidence: 99%

Modeling and Analysis of a Reconfigurable Rover for Improved Traversing over Soft Sloped Terrains

et al. 2023

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Adjusting the roll angle of a rover’s body is a commonly used strategy to improve its traversability over sloped terrains. However, its range of adjustment is often limited, due to constraints imposed by the rover design and geometry factors such as suspension, chassis, size, and suspension travel. In order to improve the rover’s traversability under these constraints, this paper proposes a reconfigurable rover design with a two-level (sliding and rolling) mechanism to adjust the body’s roll angle. Specifically, the rolling mechanism is a bionic structure, akin to the human ankle joint which can change the contact pose between the wheel and the terrain. This novel adjustment mechanism can modulate the wheel–terrain contact pose, center-of-mass projection over the supporting polygon, wheel load, and the rover driving mode. Combining the wheel–load model and terramechanics-based wheel–terrain interaction model, we develop an integrated model to describe the system dynamics, especially the relationship between rover pose and wheel slippage parameters. Using this model, we develop an associated attitude control strategy to calculate the desired rover pose using particle swarm algorithm while considering the slip rate and angle constraints. We then adjust the sliding and rolling servo angles accordingly for slope traversing operations. To evaluate the proposed design and control strategies, we conduct extensive simulation and experimental studies. The results indicate that our proposed rover design and associated control strategy can double the maximum slope angles that the rover can negotiate, resulting in significantly improved traversability over soft sloped terrains.

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Improved Rover Mobility Over Loose Deformable Slopes through Active Control of Body-Rotating Mechanism

Zhao

Chen

et al. 2021

2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

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Development of Body Rotational Wheeled Robot and its Verification of Effectiveness

Cited by 5 publications

References 15 publications

Development of Body Rotation Mechanism for Wheeled Robot to Enhance Trafficability and Overcome Mobility Limitation

Development of Body Rotation Mechanism for Wheeled Robot to Enhance Trafficability and Overcome Mobility Limitation

Modeling and Analysis of a Reconfigurable Rover for Improved Traversing over Soft Sloped Terrains

Improved Rover Mobility Over Loose Deformable Slopes through Active Control of Body-Rotating Mechanism

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