Quasi-Static Analysis of a Leg-Wheel Hybrid Vehicle for Enhancing Stair Climbing Ability

Tantichattanont, P.; Songschon, Szathys; Laksanacharoen, S.

doi:10.1109/robio.2007.4522404

Cited by 15 publications

(7 citation statements)

References 7 publications

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“…And, although RMS sinkage does experience a slight decrease, the maximum sinkage is actually higher than that seen on a five-legged wheel-leg. These observations, together with the lower climbing ability of wheel-legs with six or more spokes [31], support the choice of the five-legged wheel-legs for a better trade-off between climbing ability/mobility and traversal smoothness/efficiency. Finally, the addition of feet, also has a distinct impact on the slip and sinkage of a wheel-leg.…”

Section: A Generalized Terradynamics For Multi-legged Wheel-legsmentioning

confidence: 60%

Models for Slip Estimation and Soft Terrain Characterization With Multilegged Wheel–Legs

Comin

Saaj

2017

IEEE Trans. Robot.

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Abstract-Successful operation of off-road mobile robots faces the challenge of mobility hazards posed by soft, deformable terrain, e.g. sand traps. The slip caused by these hazards has a significant impact on tractive efficiency, leading to complete immobilization in extreme circumstances. This paper addresses the interaction between dry frictional soil and the multi-legged wheelleg concept, with the aim of exploiting its enhanced mobility for safe, in-situ terrain sensing. The influence of multiple legs and different foot designs on wheel-leg-soil interaction is analyzed by incorporating these aspects to an existing terradynamics model. In addition, new theoretical models are proposed and experimentally validated to relate wheel-leg slip to both motor torque and stick-slip vibrations. These models, capable of estimating wheelleg slip from purely proprioceptive sensors, are then applied in combination with detected wheel-leg sinkage to successfully characterize the load bearing and shear strength properties of different types of deformable soil. The main contribution of this paper enables non-geometric hazard detection based on detected wheel-leg slip and sinkage.

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Section: A Generalized Terradynamics For Multi-legged Wheel-legsmentioning

confidence: 60%

Models for Slip Estimation and Soft Terrain Characterization With Multilegged Wheel–Legs

Comin

Saaj

2017

IEEE Trans. Robot.

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“…Tantichattanont extends this result in [23] to include leg-wheel hybrid robots with almost an identical result with the exception that θ was defined between the horizontal and the step interface, implying that wheel-leg hybrid robots can generally climb steps higher than their radius.…”

Section: Mobility Versus Size For Tumbling Robotsmentioning

confidence: 66%

“…Previous results for step climbing analysis include [22] and [23]. In [22] Takahashi calculated the theoretical step heights at which the leading wheel of a robot will begin to climb as…”

Section: Mobility Versus Size For Tumbling Robotsmentioning

confidence: 99%

Robotic tumbling locomotion

Hemes

Canelon

Dancs

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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In this paper we introduce tumbling, a relatively unexplored method of locomotion in which the robot utilizes net body rotations while ambulating. Tumbling for mobile robots is attractive in that it can enable increased mobility on smaller scales, often while reducing hardware requirements. As motivation for this interesting form of locomotion we provide a geometric analysis of a vertical step climbing task, one that tumbling robots perform well with respect to their size and complexity. In addition to our analysis we present results of a hardware experiment with a tumbling robot performing the task for varying combinations of frictional coefficients at the step and ground.

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“…In addition, the leg may hit the next step during swing phase. The permissible error range can be calculated based on the geometric relationship: is derived from (6). By using the same set of parameters, W = 27 cm, H = 17 cm, max = 21 cm, and d = 2.8 cm, the acceptable range is 2.9 > ΔW > (-12.05 cm).…”

Section: Error Adaptationmentioning

confidence: 99%

“…The humanoid robot ASIMO [5], developed by HONDA, has demonstrated stair climbing behavior quite frequently in various robot shows. The hexapod ASTERISK [6] climbs stairs based on precise recognition of each stair by laser scanner. The hexapod robot RHex [7] also demonstrates excellent performance on stairs, including both stair ascent [8] and descent [9].…”

Section: Introductionmentioning

confidence: 99%

Stair Climbing in a Quadruped Robot

Chen

et al. 2012

AUSMT

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This paper reports the algorithm of trajectory planning and the strategy of four-leg coordination for quasi-static stair climbing in a quadruped robot. This development is based on the geometrical interactions between robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and then four-leg coordination. In addition, a brief study on the robot's locomotion stability is also included. Finally, simulation and experimental testing were executed to evaluate the performance of the algorithm.

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Quasi-Static Analysis of a Leg-Wheel Hybrid Vehicle for Enhancing Stair Climbing Ability

Cited by 15 publications

References 7 publications

Models for Slip Estimation and Soft Terrain Characterization With Multilegged Wheel–Legs

Models for Slip Estimation and Soft Terrain Characterization With Multilegged Wheel–Legs

Robotic tumbling locomotion

Stair Climbing in a Quadruped Robot

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