Slip control of a wheeled mobile robot with a movable auxiliary mass

Yokoyama, Makoto; Matsuhasi, Y.; Sano, Akira; Ko, Myat Thiri

doi:10.1109/aim.2015.7222671

Cited by 4 publications

(2 citation statements)

References 7 publications

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“…In addition, various locomotion mechanisms have been tried to make the robot reconfigurable [11]- [15]. In particular, the concept of a reconfigurable wheeled robot in which the center of mass may be shifted was investigated to enhance mobility performance under extreme driving conditions [3], [4], [16], [17]. The effect moving the center of mass was also analyzed [16]- [24].…”

Section: Introductionmentioning

confidence: 99%

Development of Body Rotation Mechanism for Wheeled Robot to Enhance Trafficability and Overcome Mobility Limitation

Kim

Sim²,

2021

IEEE Access

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A wheeled robot operating on various complex terrains with scattered obstacles and steep slopes must be capable of surmounting obstructions and coping with the extreme driving environment. This paper proposes a body rotation mechanism that controls the load distribution on the robot wheel for the robot to surmount rocky obstacles and steadily ascend deformable slopes. This work formulates a robot dynamics model based on the wheel-complex terrain interaction model to analyze the mechanical effect of the proposed body rotation mechanism. Moreover, an optimal body rotation configuration integrating the robot dynamics model and non-dominated sorting genetic algorithm-II is obtained to choose the appropriate body rotation control strategy. The numerical analysis results conclusively prove the effectiveness of the proposed mechanism. The robot with its fabricated platform is field tested by allowing it to surmount a rocky obstacle and ascend a deformable slope. The results indicate that the proposed body rotation mechanism is an effective approach for enhancing the mobility of a wheeled robot in traversing complex terrains.

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Section: Introductionmentioning

confidence: 99%

Development of Body Rotation Mechanism for Wheeled Robot to Enhance Trafficability and Overcome Mobility Limitation

Kim

Sim²,

2021

IEEE Access

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“…Path planning for rough surfaces is discussed in [68,69]. A particularly interesting case, with regard to the presented work, is to consider wheel slip when a robot carries a load on slippery surfaces, as discussed in [70]. SHP evaluation on different types of surfaces is considered as a potential future project.…”

Section: Shp Comparison With Other Path Planning and Smoothing Technimentioning

confidence: 99%

SHP: Smooth Hypocycloidal Paths with Collision-Free and Decoupled Multi-Robot Path Planning

Ravankar

Kobayashi

et al. 2016

International Journal of Advanced Robotic Systems

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Generating smooth and continuous paths for robots with collision avoidance, which avoid sharp turns, is an important problem in the context of autonomous robot navigation. This paper presents novel smooth hypocycloidal paths (SHP) for robot motion. It is integrated with collision-free and decoupled multi-robot path planning. An SHP diffuses (i.e., moves points along segments) the points of sharp turns in the global path of the map into nodes, which are used to generate smooth hypocycloidal curves that maintain a safe clearance in relation to the obstacles. These nodes are also used as safe points of retreat to avoid collision with other robots. The novel contributions of this work are as follows:(1) The proposed work is the first use of hypocycloid geometry to produce smooth and continuous paths for robot motion. A mathematical analysis of SHP generation in various scenarios is discussed. (2) The proposed work is also the first to consider the case of smooth and collision-free path generation for a load carrying robot. (3) Traditionally, path smoothing and collision avoidance have been addressed as separate problems. This work proposes integrated and decoupled collision-free multi-robot path planning. ‵Node caching‵ is proposed to improve efficiency. A decoupled approach with local communication enables the paths of robots to be dynamically changed. (4) A novel ‵multi-robot map update‵ in case of dynamic obstacles in the map is proposed, such that robots update other robots about the positions of dynamic obstacles in the map. A timestamp feature ensures that all the robots have the most updated map. Comparison between SHP and other path smoothing techniques and experimental results in real environments confirm that SHP can generate smooth paths for robots and avoid collision with other robots through local communication.

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Development of Body Rotational Wheeled Robot and its Verification of Effectiveness

Sim

Kim

2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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Slip control of a wheeled mobile robot with a movable auxiliary mass

Cited by 4 publications

References 7 publications

Development of Body Rotation Mechanism for Wheeled Robot to Enhance Trafficability and Overcome Mobility Limitation

Development of Body Rotation Mechanism for Wheeled Robot to Enhance Trafficability and Overcome Mobility Limitation

SHP: Smooth Hypocycloidal Paths with Collision-Free and Decoupled Multi-Robot Path Planning

Development of Body Rotational Wheeled Robot and its Verification of Effectiveness

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