Systematic kinematics analysis and balance control of high mobility rovers over rough terrain

Tarokh, Mahmoud; Ho, Huy Dang; Bouloubasis, A.K.

doi:10.1016/j.robot.2012.09.010

Cited by 40 publications

(34 citation statements)

References 20 publications

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“…Most of the systems are still at the development stage and not yet available on the market. Considering that agricultural machines usually operate on uneven terrain, giving autonomous or remotely-operated agricultural robots the capability of travelling and performing different tasks on different surfaces is a challenge (Ejiri, 1996;Fang et al, 2011;Fang, Fan, Thuilot, & Martinet, 2006;Khot, Tang, Steward, & Han, 2008;Tarokh, Ho, & Bouloubasis, 2013). The use of robots in agriculture can help solve many problems of operational sustainability related to the management of field processes in many contexts (Fumagalli et al, 2012) but it has particular significance to the safety issues related to the use of machines on steep slopes (Khot et al, 2008;Kise & Zhang, 2006).…”

Section: Abbreviationsmentioning

confidence: 99%

Evaluation and stability comparison of different vehicle configurations for robotic agricultural operations on side-slopes

Vidoni

Bietresato

Gasparetto

et al. 2015

Biosystems Engineering

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Section: Abbreviationsmentioning

confidence: 99%

Evaluation and stability comparison of different vehicle configurations for robotic agricultural operations on side-slopes

Vidoni

Bietresato

Gasparetto

et al. 2015

Biosystems Engineering

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“…The rear and front body part are joined with a single shaft through a hinge joint without any actuator. , which provides stability of the body balance in rough terrains [15]. A maximum of 35° slope or terrains can be overrun by this robot.…”

Section: A Sigma-3 Body Designmentioning

confidence: 99%

Sigma-3: Integration and Analysis of a 6 DOF Robotic Arm Configuration in a Rescue Robot

Bindu¹,

Neloy²,

Alam³

et al. 2019

2019 4th International Conference on Robotics and Automation Engineering (ICRAE)

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This paper introduces a rescue robot named Sigma-3 which is developed for potential applications such as helping hands for humans where a human can't reach to have an assessment of the hazardous environment. Also, these kinds of robot can be controlled remotely with an adequate control system. The proposed methodology forces on two issues -1. Novel mechanism design for measuring rotation, joints, links of Degree of Freedom (DOF) for an arm which is integrated with Sigma-3 2. Precise measuring of end-effector motion control over three dimensions. In the proposed mechanism design, the DOF measurement is presented by a planar and spatial mechanism where 4 types of rigid joints build up each DOF with controlling by six High Torque MG996R servo motors. Rotation and DOF measurement are consisting of different theoretical references of Rotation Matrix, Inverse Kinematics with experimental results. Presented methodology over Oscillation Damping performance exhibits less than 3% error while configuring for on hands testing. Another evaluation of operating time state strongly defends the mechanism of low power consumption ability.

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“…In foreign countries, Carnegie Mellon University, Stanford University, and Massachusetts Institute of Technology conducted extensive research in this field [1][2][3]. Military ground unmanned platforms in China have been increasingly investigated due to serious technical barriers and blockade.…”

Section: Introductionmentioning

confidence: 99%

Analysis on Wheel–Ground Contact Load Characteristics of Unmanned Off-road Vehicles

Ren¹,

Li²,

Tao³

et al. 2017

JESTR

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The wheel-ground contact load characteristics of unmanned ground vehicles are an important foundation for vehicle design, structural parameter optimization, off-road performance evaluation, and control strategy formulation. The load characteristics of unmanned ground vehicles are mainly investigated based on traditional vehicle terramechanics theory, which cannot reflect wheel-ground contact. This study proposed a model integrated with qualitative theoretical analysis and quasi-quantitative simulation to evaluate wheel-ground contact load characteristics during the off-road movement of unmanned vehicles. Prediction and test models of system wheel contact load characteristics were built by multi-physical field coupling analysis. Flow and power characteristics during unilateral steering were discussed systematically through terramechanics theory. The accuracy of the models was verified by experiments. Results show that changes in the tire load affect the average stress on the ground contact surface of tire, which leads to the forward gravity center of the entire machine. The optimal combination of structural parameters under dynamic working conditions of the unmanned vehicles is determined based on multi-physics coupling analysis model to optimize the structural design. The load pressure of the system reaches 19.53 MPa in the accelerated start-up phase, and the error of simulation and test results is within 10%. This study provides tools for theoretical and simulation analysis for development of the optimized structure design and control strategy formulation of unmanned ground vehicles.

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Systematic kinematics analysis and balance control of high mobility rovers over rough terrain

Cited by 40 publications

References 20 publications

Evaluation and stability comparison of different vehicle configurations for robotic agricultural operations on side-slopes

Evaluation and stability comparison of different vehicle configurations for robotic agricultural operations on side-slopes

Sigma-3: Integration and Analysis of a 6 DOF Robotic Arm Configuration in a Rescue Robot

Analysis on Wheel–Ground Contact Load Characteristics of Unmanned Off-road Vehicles

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