Humanitarian Demining Serial-Tracked Robot: Design and Dynamic Modeling

Petrişor, Silviu Mihai; Simion, Mihaela; Bârsan, Ghiță; Hancu, Olimpiu

doi:10.3390/machines11050548

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Cited by 4 publications

References 32 publications

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Using LiDAR Data as Image for AI to Recognize Objects in the Mobile Robot Operational Environment

Nowakowski,

Kurylo,

Braun

et al. 2024

Communications in Computer and Information Science

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Using LiDAR Data as Image for AI to Recognize Objects in the Mobile Robot Operational Environment

Nowakowski,

Kurylo,

Braun

et al. 2024

Communications in Computer and Information Science

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W-Leg Jumping Robot: Mechanical Design, Dynamical Analysis and Simulation of Jumping Dual Wheel-Leg Hybrid Robot

Tatar

2024

Arab J Sci Eng

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This study primarily focuses on design, mathematically model and simulate a novel two wheel-legged hybrid robot called W-Leg Jumping robot, which has a unique ability to overcome step-like obstacles efficiently. In general, in transformable wheel-leg robot studies, the leg and wheel structure perform their movements in an interdependent manner. However, in this study, it is aimed to design a robot in which the leg and wheel structure can move independently of each other and to develop a robot that can easily overcome obstacles on flat surfaces with the wheel mode and with the leg mode. The robot can fold its legs hidden within the wheels and deploy its two degree of freedom (DoF) legs when it detects step-like obstacles. This mechanism allows the robot to overcome an obstacle with a height of twice the radius of the robot's open/close mechanism of the legs, along with the two-dimensional kinematic and dynamic analyzes of the legs, are presented in detail within the scope of this study proportional-integral-derivative (PID) controller is designed to control the joint angles of the legs. The reference angle values to be followed according to the height of the obstacle are determined using artificial neural network (ANN). Additionally, motion simulations of the robot are conducted for four different obstacle heights (20, 30, 40, and 50 cm). As a result of the PID controller, when exceeding the highest obstacle of 50 cm, the average absolute joint angular tracking error is max. 1.8829°, average tracking error max. 0.265 s and max.

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Modeling, simulation, and experiments of a flexible track robot over rigid horizontal and inclined surfaces

Ezra,

Cohen,

Zarrouk

2024

Mechanism and Machine Theory

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Humanitarian Demining Serial-Tracked Robot: Design and Dynamic Modeling

Cited by 4 publications

References 32 publications

Using LiDAR Data as Image for AI to Recognize Objects in the Mobile Robot Operational Environment

Using LiDAR Data as Image for AI to Recognize Objects in the Mobile Robot Operational Environment

W-Leg Jumping Robot: Mechanical Design, Dynamical Analysis and Simulation of Jumping Dual Wheel-Leg Hybrid Robot

Modeling, simulation, and experiments of a flexible track robot over rigid horizontal and inclined surfaces

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