Research on traversability of tracked vehicle on slope with unfixed obstacles: derivation of climbing-over, tipping-over, and sliding-down conditions

Yajima, Ryosuke; Nagatani, Keiji; Hirata, Yasuhisa

doi:10.1080/01691864.2019.1668848

Cited by 11 publications

(6 citation statements)

References 18 publications

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“…The second type is the geometry‐based method. They perform force analysis and pose prediction for the contact process between a tracked robot and a specific terrain (Howard et al, 2014), containing single steps (Wang et al, 2007), stairs (Endo et al, 2016; Nagatani & Endo, 2016), and cylinders (Yajima & Nagatani, 2018; Yajima et al, 2019). Among them, Yuan et al (2019, 2020) divided the process of crossing a single step into multiple stages, where each stage was modeled, and the control law was designed based on geometric relationships.…”

Section: Related Workmentioning

confidence: 99%

“…to increase the level of autonomy of articulated tracked robots, including (i) estimating robot chassis pose as control target (Gianni et al, 2016;Okada et al, 2011), (ii) modeling specific terrain structures and designing simple control laws based on kinematic and dynamic analysis (Yajima & Nagatani, 2018;Yajima et al, 2019), and (iii) using machine learning methods to estimate flipper motions with terrain and robot pose as inputs (Pecka et al, 2018). Among these works, estimating the robot poses plays a core role, especially in predicting the poses in unreached places.…”

Section: Imitating Human Operations Several Research Efforts Have Bee...mentioning

confidence: 99%

“…The experienced human operator can control the flipper motion based on the robot's current pose and the upcoming terrain to ensure the robot can pass through smoothly. Imitating human operations, several research efforts have been made to increase the level of autonomy of articulated tracked robots, including (i) estimating robot chassis pose as control target (Gianni et al, 2016; Okada et al, 2011), (ii) modeling specific terrain structures and designing simple control laws based on kinematic and dynamic analysis (Yajima & Nagatani, 2018; Yajima et al, 2019), and (iii) using machine learning methods to estimate flipper motions with terrain and robot pose as inputs (Pecka et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

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Geometry‐based flipper motion planning for articulated tracked robots traversing rough terrain in real‐time

Chen,

Huang,

Pan

et al. 2023

Journal of Field Robotics

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Tracked robots operating on rough terrain are often equipped with controllable flippers to help themselves overcome large obstacles or gaps. How to automate the control of these auxiliary flippers to achieve autonomous traversal remains an open question, which still necessitates inefficient manual teleoperation in practice. To tackle this problem, this article presents a geometry‐based motion planning method for an articulated tracked robot to self‐control its flippers during autonomous or semiautonomous traversal over rough terrain in urban search and rescue environments. The proposed method is developed by combining dynamic programming with a novel geometry‐based pose prediction method of high computational efficiency, which is applicable for typical challenging rescue terrains, such as stairs, Stepfields, and rails. The efficient pose prediction method allows us to make thousands of predictions about the robot poses at future locations for given flipper configurations within the onboard sensor range. On the basis of such predictions, our method evaluates the entire discretized configuration space and thereby determines the optimal flipper motion online for a smooth traversal over the terrain. The overall planning algorithm is tested with both simulated and real‐world robots and compared with a reinforcement‐learning‐based method using the RoboCup Rescue Robot League standard testing scenarios. The experimental results show that our method enables the robots to automatically control the flippers, successfully go over challenging terrains, and outperform the baseline method in passing smoothness and robustness to different terrains.

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Section: Related Workmentioning

confidence: 99%

Section: Imitating Human Operations Several Research Efforts Have Bee...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Geometry‐based flipper motion planning for articulated tracked robots traversing rough terrain in real‐time

Chen,

Huang,

Pan

et al. 2023

Journal of Field Robotics

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“…Generally, the yaw motion and lateral motion are consistent and the dynamic stability is reflected in the fluctuation of the roll angle when traversing over a bump. [17][18][19] The results of the comparison between numerical simulations and experimental tests are presented in Figure 13. As shown in Figure 13(a), for the case of the 4 DOF model, the roll motion of the body is typically smaller than that of the rear axle.…”

Section: Driving Over Bumpsmentioning

confidence: 99%

Roll dynamic model and steering stability analysis of the counterbalance forklift truck with considering hierarchical rollover

Zhang

Xia

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part D:

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The dynamic model of a counterbalance forklift truck is established, and the validations under various operational conditions are studied. The roll motion of the counterbalance forklift is expressed by four degrees of freedom with consideration given to the independent roll motion between the body and chassis, the variation of the roll axis, and the contact between the body limit block and rear axle. Furthermore, testing under turning on firm ground and driving over obstacle conditions are conducted for verifying the dynamic response characteristic of the established model. In addition, numerical simulations are performed to investigate the effect of forklift structural parameters and road roughness excitation on the roll dynamics of forklifts. Finally, the rationality of evaluating the forklift roll state by load transfer ratio (LTR) is discussed. Simulation results are well in harmony with experiment results, suggesting that the proposed dynamic model can be an effective tool for stability analysis of counterbalance forklift trucks. This work provides theoretical foundations for the development of improved anti-rollover control, ultimately leading to enhanced stability and safety of forklifts.

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“…Legs, on the other hand, typically outperform wheels in challenging terrain conditions, but they often suffer from mechanical complexities and control difficulties [3], [4]. Tracks or crawling mechanisms have advantages over wheels or legs on soft terrains and slopes, and their operational principles can be as simple as wheels [5], [6], [7], [8]. However, the increased mechanical complexity often limits their use to low-speed applications.…”

mentioning

confidence: 99%

$\mathbf{\alpha }$-WaLTR: Adaptive Wheel-and-Leg Transformable Robot for Versatile Multiterrain Locomotion

et al. 2023

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Adaptability is a fundamental yet challenging requirement for mobile robot locomotion. This article presents α-WaLTR, a new adaptive wheel-and-leg transformable robot for versatile multiterrain mobility. The robot has four passively transformable wheels, where each wheel consists of a central gear and multiple leg segments with embedded spring suspension for vibration reduction. These wheels enable the robot to traverse various terrains, obstacles, and stairs while retaining the simplicity in primary control and operation principles of conventional wheeled robots. The chassis dimensions and the center of gravity location were determined by a multiobjective design optimization process aimed at minimizing the weight and maximizing the robot's pitch angle for obstacle climbing. Unity-based simulations guided the selection of the design variables associated with the transformable wheels. Following the design process, α-WaLTR with an embedded sensing and control system was developed. Experiments showed that the spring suspension on the wheels effectively reduced the vibrations when operated in the legged mode and verified that the robot's versatile locomotion capabilities were highly consistent with the simulations. The system-level integration with an embedded control system was demonstrated via autonomous stair detection, navigation, and climbing capabilities.

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Research on traversability of tracked vehicle on slope with unfixed obstacles: derivation of climbing-over, tipping-over, and sliding-down conditions

Cited by 11 publications

References 18 publications

Geometry‐based flipper motion planning for articulated tracked robots traversing rough terrain in real‐time

Geometry‐based flipper motion planning for articulated tracked robots traversing rough terrain in real‐time

Roll dynamic model and steering stability analysis of the counterbalance forklift truck with considering hierarchical rollover

$\mathbf{\alpha }$-WaLTR: Adaptive Wheel-and-Leg Transformable Robot for Versatile Multiterrain Locomotion

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