FUHAR: A transformable wheel-legged hybrid mobile robot

Mertyüz, Irem; Tanyıldızı, Alper Kadir; Taşar, Beyda; Tatar, Ahmet Burak; Yakut, Oğuz

doi:10.1016/j.robot.2020.103627

Cited by 49 publications

(18 citation statements)

References 20 publications

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“…Cong et al (2021) used a plane spiral pair to transmit the rotational power to the arc-shaped wheel-legs, the rolling wheel was switched from the round wheel state to four groups of arc-shaped wheel-legs. The wheel-leg transformation robots designed in the references Lee et al (2022), Lv (2020), Zeng et al (2019), andMertyüz et al (2020) adopt six wheel-legs arranged in the circumferential direction, and each wheel-leg can be independently transformed during obstacle crossing. In addition, Tholapu et al (2021) proposed a conceptual spherical mobile robot, which is composed of two hemispheres, and each hemisphere is divided into four legs.…”

Section: Introductionmentioning

confidence: 99%

Research on obstacle performance and tipping stability of a novel wheel–leg deformation mechanism

Zhang

Su²

2023

Mech. Sci.

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Abstract. A new type of wheel–leg deformation mechanism, based on an electromagnetic clutch and gear rack transmission mechanism, is designed. This mechanism has a compact structure and simple operation, which can roll on wheels and surmount obstacles with a support leg. Firstly, the walking model is established to study the kinematics characteristics of the mechanism. The alternation of the support legs does not affect smooth obstacle crossing, but will cause the step change of the angular velocity of the centroid of the main body. Secondly, the obstacle-surmounting performance of roll-over mode and obstacle-crossing mode using support legs is analyzed. For roll-over mode, the maximum climbing height is 87.36 mm. For obstacle-crossing mode using support legs, the maximum climbing height is the maximum extension length of the support leg. According to the climbing height, the switching criteria of different climbing modes are obtained. In addition, the rolling angle of the main body has a greater impact on the support force and driving torque, while the contact angle between the legs and the ground has a small impact. Finally, the tipping stability and anti-interference ability of the wheel–leg deformation mechanism is evaluated using the stability cone method.

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Section: Introductionmentioning

confidence: 99%

Research on obstacle performance and tipping stability of a novel wheel–leg deformation mechanism

Zhang

Su²

2023

Mech. Sci.

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“…Mobile robots can be divided into three categories [12] according to their moving mechanism: wheeled [13][14][15], legged [16][17][18], or hybrid [19,20]. Wheeled robots, and in particular autonomous guided vehicles (AGVs), are widely used in industrial environments due to their simplicity and few actuators, making them a very important component of smart factories and smart logistics [21].…”

Section: Introductionmentioning

confidence: 99%

A Systems Engineering Approach for the Design of an Omnidirectional Autonomous Guided Vehicle (AGV) Testing Prototype

Tejada

Toro-Ossaba

Montoya

et al. 2022

Journal of Robotics

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This paper addresses the mechanical and electrical design of an autonomous guided vehicle (AGV) test prototype based on a systems engineering approach. First, the different phases of the systems engineering approach are described. The conceptual design begins with the house of quality, which weighs the relevance of each user requirement and ends with a functional representation of the vehicle. Then, the mechanical and electrical design are presented considering different subsystems such as the chassis, cargo platform, suspension system, power, and control components. Finally, different tests were carried out on the prototype, validating its movement and load capacities. The systems engineering approach as a methodology for the construction of complex systems has proven to be an excellent tool for the development of autonomous guided vehicles.

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“…One possible way of solving the problem will be to actively adjust the position according to the shape of the obstacle. However, most existing wheel-legged robots steer by deferentially driving their wheels [7][5] [11], which will inevitably cause a misalignment between left and right wheels, thus making it harder to climb an obstacle stably.…”

Section: Introductionmentioning

confidence: 99%

OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot

Cao¹,

Gu²,

Chen³

et al. 2022

Preprint

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This paper presents the design, analysis, and performance evaluation of an omnidirectional transformable wheel-leg robot called OmniWheg. We design a novel mechanism consisting of a separable Omni-wheel and 4-bar linkages, allowing the robot to transform between Omni-wheeled and legged modes smoothly. On wheeled mode, the robot can move in all directions and efficiently adjust the relative position of its wheels, while it can overcome common obstacles in legged mode, such as stairs and steps. Unlike other articles studying whegs, this implementation with omnidirectional wheels allows the correction of misalignments between right and left wheels before traversing obstacles, which effectively improves the success rate and simplifies the preparation process before the wheel-leg transformation. We describe the design concept, mechanism, and the dynamic characteristic of the wheel-leg structure. We then evaluate its performance in various scenarios, including passing obstacles, climbing steps of different heights, and turning/moving omnidirectionally. Our results confirm that this mobile platform can overcome common indoor obstacles and move flexibly on the flat ground with the new transformable wheel-leg mechanism, while keeping a high degree of stability.

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FUHAR: A transformable wheel-legged hybrid mobile robot

Cited by 49 publications

References 20 publications

Research on obstacle performance and tipping stability of a novel wheel–leg deformation mechanism

Research on obstacle performance and tipping stability of a novel wheel–leg deformation mechanism

A Systems Engineering Approach for the Design of an Omnidirectional Autonomous Guided Vehicle (AGV) Testing Prototype

OmniWheg: An Omnidirectional Wheel-Leg Transformable Robot

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