Motion Kinematics Analysis of a Horse Inspired Terrain-Adaptive Unmanned Vehicle With Four Hydraulic Swing Arms

Zhou, Xuanyi; He, Jiping; He, Qingbo; Ren, Changji; Bhushan,; He, Miaolei

doi:10.1109/access.2020.3033148

Cited by 12 publications

(8 citation statements)

References 27 publications

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“…Additionally, muscle computer interface (muCI), one of the widespread human–computer interfaces, has been widely adopted for the identification of hand gestures using the electrical activity of muscles (Zhou et al, 2020a ). Zhou et al ( 2020b ) proposed a novel horse inspired all terrain eight-wheeled vehicle with four swing arms for transportation in the mountain battlefield. In the future, we can use robot technology to carry out deeper integration research on the health of the elderly.…”

Section: Discussionmentioning

confidence: 99%

Sit-to-Stand (STS) Movement Analysis of the Center of Gravity for Human–Robot Interaction

Wang¹,

Xu²,

et al. 2022

Front. Neurorobot.

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As the aging process is springing up around the whole world, the problem of sit-to-stand (STS) for the elderly has become the focal point of older people themselves, their families, and society. The key challenge in solving this problem is developing and applying the technology of auxiliary robots for standing up and auxiliary stands. The research is not only to find the appropriate fundamentals from a healthcare perspective in the center of gravity movement (COM) curve of the elderly during STS but also to meet the psychological needs of the elderly during STS in a comfortable, pleasant, and safe way. To obtain the skeleton tracking technology used in this study, we used the Vicon optical motion capture system and automatic moving target indicator (AMTI) 3-D force measuring table to obtain a COM curve of the elderly during STS. The stationary process, speed, and sitting posture analysis during STS were combined in this paper to seek a solution to the psychological needs of the elderly. The analysis is conducted with the integration of medicine, engineering, art, and science into this research. Finally, a movement curve and related dynamic parameters that can truly reflect the STS of the elderly are obtained, and the discussion is provided. The research result can provide theoretical and technical support for the later development of auxiliary robots for standing up and auxiliary stands technology products, so that the elderly can STS comfortably, happily, and safely with the assistance of human–robot interaction.

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Section: Discussionmentioning

confidence: 99%

Sit-to-Stand (STS) Movement Analysis of the Center of Gravity for Human–Robot Interaction

Wang¹,

Xu²,

et al. 2022

Front. Neurorobot.

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“…Similar wheels cannot adapt outdoors to rugged, soft, and other complex terrains. For all of these scenarios, based on our research experiences on different kinds of robot [53,55,[95][96][97][98][99][100][101][102][103], it is foreseeable that the future trends of UGV platform can be discussed in several aspects:…”

Section: Challengesmentioning

confidence: 99%

State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics

Yue

Zheng

et al. 2023

Robotica

Self Cite

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This article presents a review of the platform configuration and dynamic of obstacle-surmounting unmanned ground vehicles (UGVs). For now, unmanned systems have emerged as a result of the rapid advancement of artificial intelligence and modern manufacturing techniques both domestically and internationally. The research on unmanned systems has been improved a lot. The UGV platform can execute transportation, recurring, and military tasks independently. For the high-level self-control, adaption, and maneuverability abilities, the UGV platform has been applied in the military, industry, and other special fields widely. The UGV platform usually performs tasks in an unstructured environment, so the all-terrain performance becomes a key factor restricting their operating efficiency and reliability. A brief literature review of the UGV platform is carried out in this article.

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“…Closed-loop control is the measurement of vibration signals by sensors and feedback to the control system. e control system outputs instructions to control the end vibration, including PID control, sliding mode control, robust control, state feedback control, fuzzy control, adaptive control, and neural network control [32][33][34][35][36][37][38][39][40][41][42][43].…”

Section: Introductionmentioning

confidence: 99%

Approximate Inertial Manifold‐Based Model Reduction and Vibration Suppression for Rigid‐Flexible Mechanical Arms

Deng

Lin

et al. 2021

Complexity

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The dynamic characteristics of the mechanical arm with a rigid-flexible structure are very complex. The reason is that it is a complex DPS (distributed parameter system) with infinite dimension and nonlinearity in essence due to the rigid-flexible coupling. So, accurately positioning and controlling the rigid-flexible mechanical arms could be difficult. Therefore, a model reduction method of rigid-flexible mechanical arms based on the approximate inertial manifold is put forward. To repress the residual vibration of the end of the mechanical arm, a feedforward control strategy is designed. The high-dimensional solution of the vibration equation of the rigid-flexible mechanical arms is projected into the complete space composed of orthogonal decomposition modes. By using Galerkin’s method, the system is simplified and the approximate solution is obtained through the interaction between high-order and low-order modes. The truncated finite mode is also used to construct a lowest-order dynamic model on the basis of approximate inertia manifold. Given the reduced-order rigid-flexible mechanical arms dynamic model, dynamic response analysis is conducted to optimize the target position error and end residual vibration. A limited number of sinusoidal signals approximately combine the input signal, by using the particle swarm optimization algorithm to optimize the input signal, and the amplitude of the sinusoidal signal is corrected. The simulation results depict the superiority of the proposed method, which greatly suppresses the end residual vibration of the mechanical arm and realizes the accurate positioning of the end of the mechanical arm. In addition, the hardware experimental device of the rigid-flexible mechanical arms is constructed, and the experimental verification of the above method is put into effect. The simulation results of angular displacement and end vibration of the reduced model are accordant which is shown by the experimental results of the hardware platform.

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Motion Kinematics Analysis of a Horse Inspired Terrain-Adaptive Unmanned Vehicle With Four Hydraulic Swing Arms

Cited by 12 publications

References 27 publications

Sit-to-Stand (STS) Movement Analysis of the Center of Gravity for Human–Robot Interaction

Sit-to-Stand (STS) Movement Analysis of the Center of Gravity for Human–Robot Interaction

State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics

Approximate Inertial Manifold‐Based Model Reduction and Vibration Suppression for Rigid‐Flexible Mechanical Arms

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