Gait analysis and control of a deployable robot

Shang, Hao; Wei, Dawei; Kang, Rongjie; Chen, Yan

doi:10.1016/j.mechmachtheory.2017.09.020

Cited by 18 publications

(6 citation statements)

References 4 publications

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“…Modular robots are robots made of identical or similar elements that can be attached in different ways to form different group structures ( Støy, 2015 ; Shang et al, 2018 ). The Reconfigurable Modular Manipulator System (RMMS) ( Kelmar and Khosla, 1990 ) was one of the earliest modular robots and consisted of a set of modular links and joints of various sizes that could be reconfigured according to specific tasks.…”

Section: Expandable Structures For Roboticsmentioning

confidence: 99%

Designing Expandable-Structure Robots for Human-Robot Interaction

et al. 2022

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In this paper, we survey the emerging design space of expandable structures in robotics, with a focus on how such structures may improve human-robot interactions. We detail various implementation considerations for researchers seeking to integrate such structures in their own work and describe how expandable structures may lead to novel forms of interaction for a variety of different robots and applications, including structures that enable robots to alter their form to augment or gain entirely new capabilities, such as enhancing manipulation or navigation, structures that improve robot safety, structures that enable new forms of communication, and structures for robot swarms that enable the swarm to change shape both individually and collectively. To illustrate how these considerations may be operationalized, we also present three case studies from our own research in expandable structure robots, sharing our design process and our findings regarding how such structures enable robots to produce novel behaviors that may capture human attention, convey information, mimic emotion, and provide new types of dynamic affordances.

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Section: Expandable Structures For Roboticsmentioning

confidence: 99%

Designing Expandable-Structure Robots for Human-Robot Interaction

et al. 2022

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“…A foldable robot was developed that can move in a space of limited height and width owing to structural deformations, such as unfolding and folding. 9 A parallel robot with excellent deformation and folding capabilities in narrow and restricted motion spaces was proposed. 10 Metamorphic robots are also an important development direction.…”

Section: Introductionmentioning

confidence: 99%

Design and analysis of a multi-configuration wheel-leg hybrid drive robot machine

Hou

Yuan

et al. 2023

International Journal of Advanced Robotic Systems

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The use of robots to perform tasks in extreme environments instead of humans has gradually become important. For wider applications, robots should be able to adapt to complex environments, such as typical height/width-restricted motion spaces, raised obstacles, and ravines. The structure is the foundation of robot to move and perform tasks. In this study, a variable-attitude robot mechanism is designed and analyzed. With the link leg drive and Mecanum wheel drive, the robot has various configurations and omnidirectional motion capabilities. First, the design and analysis of the wheel drive system are performed, and the mapping relationship between the velocity of the robot and the velocity of the Mecanum wheel is clarified. Second, kinematics of the linkage drive system is analyzed, including the motion space, trajectory characteristics, and the effect of variable axle spacing on the robot motion performance. Subsequently, a simulation is used to verify the rationality of the three motion modes of the robot: walking, wheel drive, and hybrid drive. Finally, a motion simulation of several typical configuration changes in the robot is observed, and the feasibility of the robot mechanism to adapt to a complex environment is verified. This study contributes to the development and application of special advanced robots.

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“…Chen proposed a wheel-legged robot that could switch modes through a switching mechanism, and the robot could pass through irregular terrain and cross obstacles [16]. Shang developed a deployable robot that can move in a space with limited height and width through structural deformations, such as unfolding and folding [17]. Ding presented a parallel robot that possesses large deformation capabilities (adapted to different pipe sizes), and foldable and expandable capabilities (folding into flat or prism shapes) [18].…”

Section: Introductionmentioning

confidence: 99%

Mechanism Design of a Transformable Crawling Robot and Feasibility Analysis for the Unstructured Environment

et al. 2022

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The better application of crawl robots depends on their ability to adapt to unstructured environments with significant variations in their structural shape and size. This paper presents the design and analysis of a novel robot with different locomotion configurations to move through varying environments. The leg of the robot, inspired by insects, was designed as a multi-link structure, including the Hoekens linkage and multiple parallel four-link mechanisms. The end trajectory was a symmetrical closed curve composed of an approximate straight line and a shell curve with a downward opening. The special trajectory allowed the robot to share drives and components to achieve structural deformation and locomotion. The structural characteristics of the crawl robot on the inner and outer arcs were obtained based on the working space. The constraint relationship between the structure size, the radius of the arc, and the coefficient of static friction with which the robot could crawl on the arc were established. The feasible support posture and support position of the robot under different arc radii were obtained. The simulation tested the locomotion of the robot on the plane, arc, and restricted space. The robot can be used for detection, search, and rescue missions in unstructured environments.

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Gait analysis and control of a deployable robot

Cited by 18 publications

References 4 publications

Designing Expandable-Structure Robots for Human-Robot Interaction

Designing Expandable-Structure Robots for Human-Robot Interaction

Design and analysis of a multi-configuration wheel-leg hybrid drive robot machine

Mechanism Design of a Transformable Crawling Robot and Feasibility Analysis for the Unstructured Environment

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