Planar Omnidirectional Crawler Mobile Mechanism - Development of Actual Mechanical Prototype and Basic Experiments -

Tadakuma, Kenjiro; Takane, Eri; Fujita, Masahiro; Nomura, Akito; Komatsu, Hirotake; Konyo, Masashi; Tadokoro, Satoshı

doi:10.1109/lra.2017.2739101

Cited by 6 publications

(4 citation statements)

References 21 publications

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“…The simulation results for Cases 1-3 are shown in Figs. [10][11]. The robot's path is indicated by green circles.…”

Section: ) Comparison Of Path Planning Methodsmentioning

confidence: 99%

“…The holonomic mobile robot can move in any direction regardless of its configuration. Numerous mechanisms have been reported, such as an omnidirectional wheeled robot [10], an omnidirectional crawler robot [11], a ballbot [12], and a floor tiling robot [13]. However, the exorbitant expense of the sophisticated structures restricts the application of holonomic robots.…”

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confidence: 99%

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Path Planning for Mobile Robot Considering Turnabouts on Narrow Road by Deep Q-Network

2023

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This paper proposes a path planning method for a nonholonomic mobile robot that takes turnabouts on a narrow road. A narrow road is any space in which the robot cannot move without turning around. Conventional path planning techniques ignore turnabout points and directions determined by environmental data, which might result in collisions or deadlocks on a narrow road. The proposed method uses the Deep Q-network (DQN) to obtain a control strategy for path planning on narrow roads. In the simulation, the robot learned the optimal velocity commands that maximized the long-term reward. The reward is designed to reach a target with a smaller change in robot velocity and fewer turnabouts. The success rate and the number of turnabouts in the simulation and experiment were used to evaluate the trained model. According to simulation and environmental data, the proposed strategy enables the robot to travel on narrow roads. Additionally, these outcomes demonstrate comparable performance on a number of roadways that are not part of the learning environments, supporting the robustness of the trained model. INDEX TERMS Mobile robot, path planning, turnabout, reinforcement learning I. INTRODUCTION

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“…The simulation results for Cases 1-3 are shown in Figs. [10][11]. The robot's path is indicated by green circles.…”

Section: ) Comparison Of Path Planning Methodsmentioning

confidence: 99%

mentioning

confidence: 99%

Path Planning for Mobile Robot Considering Turnabouts on Narrow Road by Deep Q-Network

2023

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“…Compared to the wheel robot, a crawler robot has stronger terrain adaptability, higher obstacle crossing ability and better environmental suitability in steep terrain and complex environment. However, due to the large frictional resistance, it has very high energy consumption and low speed of movement (Lin et al , 2022; Li et al , 2022; Tadakuma et al , 2018). A leg robot is the most flexible movement mechanism, but it usually has a complex mechanical structure and control ability.…”

Section: Introductionmentioning

confidence: 99%

Reconfigurable wheel-crawler-integrated walking mechanism design and kinetic analysis

Zhou

Tang

Liu

et al. 2023

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Purpose This study aims to the complex and unpredictable terrain environment of the Qinghai-Tibet Plateau scientific research station, such as cement road, wetland, gravel desert, snowfield, ice surface, grassland, slimy ground, steep slope, step, etc., a reconfigurable walking mechanism based on two movement modes of wheel and triangular crawler was proposed. Design/methodology/approach By analyzing the deformation mechanism of the walking mechanism, a reconfigurable wheel-crawler-integrated walking mechanism and the configuration scheme are designed. The analysis of the kinematics and mechanical properties of the swing arm system and the deformation mechanism of the walking mechanism. Findings The reconfigurable wheel-crawler-integrated walking mechanism can be switched between the wheel and triangular crawler modes by driving the deformation mechanism. Through the numerical simulation of its movement process, and the trial production and experiment of the prototype, indicates the validity of the reconfigurable wheel-crawler-integrated walking mechanism design. Originality/value The work of this paper provides a reconfigurable wheel-crawler-integrated-walking mechanism, which can be used by robots in the Qinghai-Tibet Plateau scientific research station. It has excellent reconfigurability and can effectively improve the robot’s adaptability to complex terrain.

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“…The running mechanisms of tracked omni-robots (hereinafter referred to as the "tracked omni-mechanisms") mainly include the free-roller track (Chen et al, 2002), Vuton crawler (Roh et al, 2013), Mecanum wheel crawler (Mortensen Ernits et al, 2017;Guan and Yuan, 2019), omnidirectional mobile track (Zhang, 2017;Li et al, 2012;Xing et al, 2018;Ma et al, 2015), planar omnidirectional crawler mobile mechanism (Tadakuma et al, 2017;Takane et al, 2019;Yu et al, 2020), omni-crawler (Tadakuma et al, 2012(Tadakuma et al, , 2014, and other omnidirectional tracks. According to whether it has the ability of active movement in two noncollinear directions, the tracked omni-mechanism can be divided into two types: active tracked and semi-active tracked omni-mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Center-point steering analysis of tracked omni-vehicles based on skid conditions

Fang¹,

Zhang²,

Shang³

et al. 2021

Mech. Sci.

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Abstract. Existing center-point steering models of a tracked omni-vehicle seldom consider the skid of the track (roller) grounding section, which is inconsistent with the actual steering process. In this study, for the three typical layout types, rectangular, hybrid, and centripetal, the steady center-point steering motion of a tracked omni-vehicle under skid conditions is analyzed and a correction model is investigated. The numerical solution of the absolute lateral offset of the steering pole is obtained, and the influences of various structural parameters on the numerical solution are discussed. The steering angular velocity reduction coefficient is calculated, and the angular velocity of vehicles is corrected. The simulation of center-point steering motion is carried out on eight virtual prototypes, and the center-point steering motion experiment is carried out on three physical prototypes. The results show that the established correction model is more in line with the steering reality of the tracked omni-vehicle, and it can play a role in correcting the center-point steering angular velocity.

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Planar Omnidirectional Crawler Mobile Mechanism - Development of Actual Mechanical Prototype and Basic Experiments -

Cited by 6 publications

References 21 publications

Path Planning for Mobile Robot Considering Turnabouts on Narrow Road by Deep Q-Network

Path Planning for Mobile Robot Considering Turnabouts on Narrow Road by Deep Q-Network

Reconfigurable wheel-crawler-integrated walking mechanism design and kinetic analysis

Center-point steering analysis of tracked omni-vehicles based on skid conditions

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