Driving Mode Decision in the Obstacle Negotiation of a Variable Single-Tracked Robot

Jeong, Hae Kwan; Choi, Keun Ha; Kim, Soo Hyun; Kwak, Yoon Keun

doi:10.1163/156855308x360497

Cited by 9 publications

(1 citation statement)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…27 2017 2 4 TITAN VIII( 1999) 4 Big Dog (Raibert et al 2008) MIT Cheetah (Seok et al 2015(Seok et al ) ( 1988 VSTR (Jeong et al 2008) MACbot (Kim et al 2010) THROO ( Ottaviano et al 2014)…”

mentioning

confidence: 99%

Multi-legged adaptable crawler capable of maintaining a constant pose locomotion over rugged terrain

Takaira

Lee

Shiraishi

2018

Transactions of the JSME (In Japanese)

View full text Add to dashboard Cite

In this paper, we introduce practical design and hardware implementation issues of an adaptable crawler mechanism for a mobile robot, enabling it to maintaining its constant desired pose when moving. For this purpose, a novel multi-legged adaptable crawler (MLAC) prototype is proposed by utilizing a spring and a rack-and-pinion unit. More specifically, the MLAC prototype allows changing of the crawler configuration in order to adapt to a local surface topology. When the MLAC prototype is mounted under the mobile robot, even though the robot might encounter ascending/descending slopes and thresholds, the mechanism allows it to preserve its locomotive pose continuously. The design and performance of the MLAC prototype is explained in detail. As a result, the effectiveness of the crawler was verified through extensive experiments. Although the robot equipped with the proposed crawler encountered ascending/descending slopes and thresholds, it could preserve its desired locomotive pose continuously. Moreover, we investigated the technical features by comparing the proposed crawler and a typical crawler through experiments.

show abstract

“…27 2017 2 4 TITAN VIII( 1999) 4 Big Dog (Raibert et al 2008) MIT Cheetah (Seok et al 2015(Seok et al ) ( 1988 VSTR (Jeong et al 2008) MACbot (Kim et al 2010) THROO ( Ottaviano et al 2014)…”

mentioning

confidence: 99%