Logic-Based Automatic Locomotion Mode Control of a Wheel-Legged Robot

Leppänen, Ilkka; Virekoski, Petri; Halme, Aarne

doi:10.1142/9789812835772_0095

Cited by 4 publications

(4 citation statements)

References 5 publications

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“…We mention that in the literature there is a great diversity of robots with this architecture, (robots that can adapt to different types of terrain) [5][6][7][8]. Some representative examples of hybrid robots for rough terrain with active and passive adaptation from the literature are presented in table 1.…”

Section: Hybrid Robotsmentioning

confidence: 99%

“…Robots with active adaptation a) CRAB [5] b) Micro 5 [6] c) Hybtor Robot IMSRI [7] Robots with pasive adaptation d) Sriph [8] e) Rocky 7 [9] f) Shrimp Robot (EPFL) [10] g) Sojourer Robot (NASA) [11] h) Marsokhod Robot (Rover Company Ltd) [12] i) SOLERO [13] In the case of these robots, an identification possibility is represented by the use of the wheel formula (WF) which can be expressed as [13]:…”

Section: Table 1 Examples Of Hybrid Robotsmentioning

confidence: 99%

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Studies on mobile robots for all types of terrain

2021

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In the first part of the paper, the authors present the characteristics of the robots for all types of terrain. In the second part, two categories of robots are proposed: a robot with hybrid locomotion system and a modular robot. For the last category, if different modules are combined, a family of modular robots adaptable to different types of terrain can be obtained. The solutions proposed by the authors allow the study of the mobility and adaptability of robots to different types of terrain.

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Section: Hybrid Robotsmentioning

confidence: 99%

Section: Table 1 Examples Of Hybrid Robotsmentioning

confidence: 99%

Studies on mobile robots for all types of terrain

2021

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“…The impressive capabilities of wheeled, legged and tracked based mobile robots on the rugged surface are well documented in literature [17]. Land-based robots are generally based on wheeled locomotion, due to their fast rolling and energy efficient motion on hard-flat surface [2]. Legged robots possess good adaptability by varying the effective length and orientation of the legs which facilitates them to navigate in uneven natural terrains and overcome obstacles much better than wheeled robots [2].…”

Section: Introductionmentioning

confidence: 99%

“…Land-based robots are generally based on wheeled locomotion, due to their fast rolling and energy efficient motion on hard-flat surface [2]. Legged robots possess good adaptability by varying the effective length and orientation of the legs which facilitates them to navigate in uneven natural terrains and overcome obstacles much better than wheeled robots [2]. Continuous Track robots are favorable due to their added advantages of crawling over holes and ability to smooth out the path, putting low pressure on terrain and providing large ground contact surface and traction [3].…”

Section: Introductionmentioning

confidence: 99%

CObRaSO: Compliant Omni-Direction Bendable Hybrid Rigid and Soft OmniCrawler Module

Sachdeva,

Singh,

Rodrigues

et al. 2017

Preprint

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This paper presents a novel design of an Omnidirectional bendable Omnicrawler module-CObRaSO. Along with the longitudinal crawling and sideways rolling motion, the performance of the OmniCrawler is further enhanced by the introduction of Omnidirectional bending within the module, which is the key contribution of this paper. The Omnidirectional bending is achieved by an arrangement of two independent 1-DOF joints aligned at 90 • w.r.t each other. The unique characteristic of this module is its ability to crawl in Omnidirectionally bent configuration which is achieved by a novel design of a 2-DOF roller chain and a backbone of a hybrid structure of a soft-rigid material. This hybrid structure provides compliant pathways for the lug-chain assembly to passively conform with the orientation of the module and crawl in Omnidirectional bent configuration, which makes this module one of its kind. Furthermore, we show that the unique modular design of CObRaSO unveils its versatility by achieving active compliance on an uneven surface, demonstrating its applications in different robotic platforms (an in-pipeline robot, Quadruped and snake robot) and exhibiting hybrid locomotion modes in various configurations of the robots. The mechanism and mobility characteristics of the proposed module have been verified with the aid of simulations and experiments on real robot prototype.

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