Kinematic motion model for jumping scout robots

Stoeter, S.A.; Papanikolopoulos, N.

doi:10.1109/tro.2006.862483

Cited by 57 publications

(25 citation statements)

References 3 publications

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“…The fundamental of the proposed control law is to find a piecewise constant virtual inputs which satisfies the first equation in (12) and (13), respectively. Since that the nonlinear transformation (14) is local, and during a small time segment ðk À 1ÞT kT ½ , the accurate piecewise constant virtual inputs with extended dimensions more than the DOFs of the system can be obtained by (15). In the virtual inputs space the system is exponential stabilizable locally.…”

Section: Controller In Stance Phasementioning

confidence: 99%

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Modeling, motion planning, and control of one-legged hopping robot actuated by two arms

Tan

Zhang

et al. 2008

Mechanism and Machine Theory

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Section: Controller In Stance Phasementioning

confidence: 99%

“…In the virtual inputs space the system is exponential stabilizable locally. By the time-varying inverse transformation (15), the control law (20) is based upon a time-varying feedback, though the PD controller with time-unvarying feedback is inbuilt locally.…”

Section: Controller In Stance Phasementioning

confidence: 99%

Modeling, motion planning, and control of one-legged hopping robot actuated by two arms

Tan

Zhang

et al. 2008

Mechanism and Machine Theory

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“…However, the horizontal movements of such electro-mechanical machines are inefficient and inaccurate. Mini-Whegs [5], Jollbot [6], Scout [7] integrate mobility and jumping to cover large areas and negotiate stair-like obstacles. But, jumping is passive, and there is no control of airborne attitude.…”

Section: Introductionmentioning

confidence: 99%

BBot, a hopping two-wheeled robot with active airborne control

Yap

Hashimoto

2016

Robomech J

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Most two-wheeled robots have algorithms that control balance by assuming constant contact with the ground. However, such algorithms cannot confer stability in robots deployed on non-continuous ground terrain. Here, we introduce BBot, a robot that can hop as well as move over stepped terrains. BBot has a two-wheeled lower body platform and a spring-loaded movable upper body mass. Hopping results from the impact force produced by release of pretensed springs. An inertia measurement unit detects the angle of body tilt, and an ultrasonic distance sensor records the height above ground. An accelerometer in the inertia measurement unit measures the impact force to determine the beginning and end of the phases of hopping and landing. Torque generated from rotation of the drive wheels controls the airborne robot's body angle. Sensors detect the impact of landing, and controls immediately switch to ground balance mode to stay upright. Experiment results show that BBot is capable of traversing down a 17 cm step, enduring manual toss landing and hopping 4 cm above ground.

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“…Researchers at the University of Minnesota independently developed a two-wheeled robot, called Scout, which was first published in April 2000 [2]. Each scout is a small cylindrical explorer (a few centimeters in diameter) that is ejected from a cannon mounted on a traditional rover platform.…”

Section: Introductionmentioning

confidence: 99%

Axel Mobility Platform for Steep Terrain Excursions and Sampling on Planetary Surfaces

Nesnas

Abad-Manterola

Edlund

et al. 2008

2008 IEEE Aerospace Conference

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The recent discovery of bright new deposits in two crater gullies on Mars suggests that water still flows in brief spurts on Mars. In this paper, we will present the Axel rover ( Figure 1) that was developed to access and sample such deposits on the inside of steep crater walls. Axel is a tethered rover that can be a payload on a lander or a larger rover. The first deposits shown in Figure 2 appeared on the inside wall of an unnamed crater in Terra Sirenum at 36.6 degrees south, 161.8 degrees west. These deposits are several hundred meters down from the rim of the crater, where the terrain has a slope of approximately 250. Figure 3 shows the second gully deposit that was found in an unnamed crater in the Centauri Montes region, which is located near 38.7 degrees south latitude and 263.3 degrees west longitude. Similar to the first discovery, these deposits appeared on the inside crater wall several hundred meters down from the crater rim and on a sloped terrain.

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Kinematic motion model for jumping scout robots

Cited by 57 publications

References 3 publications

Modeling, motion planning, and control of one-legged hopping robot actuated by two arms

Modeling, motion planning, and control of one-legged hopping robot actuated by two arms

BBot, a hopping two-wheeled robot with active airborne control

Axel Mobility Platform for Steep Terrain Excursions and Sampling on Planetary Surfaces

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