Research on Dynamics and Stability in the Stairs-Climbing of a Tracked Mobile Robot

Tao, Weijun; Ou, Yi; Feng, Huanqing

doi:10.5772/52850

Cited by 34 publications

(15 citation statements)

References 13 publications

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“…For example, rough roads, unpredictable external disturbances, upstairs [6] and task demands. These situations decrease the stability of radial symmetrical hexapod robots or can lead to instability.…”

Section: Introductionmentioning

confidence: 99%

An Improved Force-Angle Stability Margin for Radial Symmetrical Hexapod Robot Subject to Dynamic Effects

Long

Xin

Deng

et al. 2015

International Journal of Advanced Robotic Systems

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This paper presents a study on stability monitoring for a radial symmetrical hexapod robot under dynamic conditions. The force-angle stability margin (FASM) measure method has been chosen as the stability criterion. This is because it is suitable for the stability analysis, in terms of external forces or manipulator loads acting on the body. Considering that a radial symmetrical hexapod robot can tumble along the contact point besides tip-over axis, this paper proposes an improved FASM measure method. Furthermore, it provides the method for calculating the stability angle of contact point and simplifies the algorithm of FASM. To verify the improved FASM measure method, three potential dynamic situations have been simulated. The simulation results confirm that, under dynamic conditions, the improved FASM is efficient, simple in terms of calculation cost and sensitive to manipulator loads and external disturbances. This means it has practical value in on-line controllers.

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Section: Introductionmentioning

confidence: 99%

An Improved Force-Angle Stability Margin for Radial Symmetrical Hexapod Robot Subject to Dynamic Effects

Long

Xin

Deng

et al. 2015

International Journal of Advanced Robotic Systems

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“…Moreover, we keep the chair of the EPW remaining level all the time and perform the speed synchronization control of the two driving wheels to avoid the lateral deflection during the stair climbing. The detailed analysis and evaluation of the EPW's stairs-climbing stability can be referred to our previous study (Tao W, 2012).…”

Section: Discussionmentioning

confidence: 99%

“…As a result, we present a development of a wheel-track hybrid EPW with the ability of easily and safely climbing the stairs while keeping high efficiency on the flat ground. In our previous research, a tracked mobile robot mechanics analysis and some stairs-climbing experiments were implemented (Tao W, 2012), however there are still some problems to apply the robot system to develop EPWs because of its limited stability.…”

Section: Introductionmentioning

confidence: 99%

A novel wheel-track hybrid electric powered wheelchair for stairs climbing

Tao

Jia

Liu

et al. 2016

JAMDSM

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Aiming at efficient locomotion on the ground and safe stairs climbing for aged or physical disabled people, a wheel-track hybrid electric powered wheelchair (EPW) is designed, analyzed, and demonstrated extensively on various conditions. We first present the wheel-track hybrid design of the EPW with a focus on the mechanical structure and of onboard control system. We then discuss and analyze the wheel and the track mobile modes and their switching design of the EPW. The use of the track mobile mode is primarily for climbing up and down the stairs while the wheel mobile mode is for commonly ground surfaces. The mechanics analysis during these two mode switching and in the process of climbing up and down the stairs are also presented in the paper. The simulation and experimental results show that the new wheel-track hybrid EPW can effectively conduct the two locomotion modes including climbing up and down the stairs. The results also validate the motion mechanics calculation models and the dynamic mode switching between two mobile modes.

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“…The robot is often required to cross stepped structures such as foot-paths, ledges, thresholds, railway tracks and piles of debris or construction material, wherein the robot needs to traverse over several vertical discontinuities. In [5] and [6] design of single segment tracked robots suitable for step/stair climbing has been carried out. Multi-segmented and variable geometry based tracked robots can make use of their reconfigurability to climb steps higher than the diameter of drive pulleys.…”

Section: Introductionmentioning

confidence: 99%

Posture control of a three-segmented tracked robot with torque minimization during step climbing

Singh

Jadhav

Krishna

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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In this paper, we present a posture control scheme for step climbing by an in-house developed three-segmented tracked robot, miniUGV. The posture control scheme results in minimum torque at the actuated joints of the segments. Non-linear optimization is carried out offline for progressively decreasing distance of the robot from the step with torque minimization as objective function and force balance, motor torque limits, slippage avoidance and interference avoidance constraints. The resulting angles of the joints are fitted to a third degree polynomial as a function of the robot distance from the step and the step height. It is shown that a single set of polynomial functions is sufficient for climbing steps of all permissible heights and angles of attack of the front segment. The methodology has been verified through simulation followed by implementation on the real robot. As a consequence of this optimization we find that the average current reduced by more than thirty percent, reducing power consumption and confirming the efficacy of the optimization framework.

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Research on Dynamics and Stability in the Stairs-Climbing of a Tracked Mobile Robot

Cited by 34 publications

References 13 publications

An Improved Force-Angle Stability Margin for Radial Symmetrical Hexapod Robot Subject to Dynamic Effects

An Improved Force-Angle Stability Margin for Radial Symmetrical Hexapod Robot Subject to Dynamic Effects

A novel wheel-track hybrid electric powered wheelchair for stairs climbing

Posture control of a three-segmented tracked robot with torque minimization during step climbing

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