TurboQuad: A Novel Leg–Wheel Transformable Robot With Smooth and Fast Behavioral Transitions

Chen, Wei-Hsi; Lin, Hung-Yeh; Lin, Yun-Meng; Lin, Pei-Chun

doi:10.1109/tro.2017.2696022

Cited by 89 publications

(39 citation statements)

References 33 publications

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“…The tip-over stability and maneuverability are analyzed while surmounting the maximum height of 140mm. A new leg-wheel robot configuration (TurboQuad) is designed in [15]. The robot is equipped with a novel conversion mechanism that can switch the form of the drive mechanism between the wheels and the legs.…”

Section: Introductionmentioning

confidence: 99%

Motion Kinematics Analysis of a Horse Inspired Terrain-Adaptive Unmanned Vehicle With Four Hydraulic Swing Arms

Zhou

et al. 2020

IEEE Access

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All terrain vehicles (ATV) perform tasks in unstructured environments where the advanced adaptive ability of rigid terrain has become a key factor. In this paper, we propose a novel horse inspired all terrain eight-wheeled vehicle with four swing arms for transportation in the mountain battlefield. The mechanism structure and system configuration of the ATV are designed based on the horse leg kinematics analysis. In order to analyze the obstacle surmounting strategy of the ATV, the kinematics model and the center of gravity of the ATV are represented. A model reference adaptive control method is proposed for the hydraulic attitude control system. Then the model for obstacle surmounting is proposed for dynamics performance and geometric kinematics. Additionally, the simulation is executed in Adams to verify the analysis and strategy. Finally, the experiment is demonstrated for climbing a vertical wall, which is a challenging and typical terrain of the mountain battlefield.

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Section: Introductionmentioning

confidence: 99%

Motion Kinematics Analysis of a Horse Inspired Terrain-Adaptive Unmanned Vehicle With Four Hydraulic Swing Arms

Zhou

et al. 2020

IEEE Access

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“…Wheeled-legged robots combine the best features of two locomotion types: wheel efficiency and velocity alongside legged robots' capability to deal with difficult terrains. Service activities where time can be a matter of life and death, such as search and rescue missions or hospital assistance, are examples of tasks that might benefit significantly from such systems [4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19]. These hybrid systems, robots with legs ending in wheels, can move by driving on the wheels while adjusting with legs to slow changes in terrain height.…”

Section: Introductionmentioning

confidence: 99%

“…The robot switches to legged locomotion if larger obstacles prevent driving [2,3]. Although these kinds of robots are able to switch from one locomotion type to the other, most of the active research focuses on combining both locomotion types as an active suspension system as presented by De Viragh et al [4], Carbone and collaborators [5], and Copilusi and colleagues [6,7]; these studies use a kinematics approach to generate velocity commands for wheels, and also consider incorporating the whole body dynamics of the root to generate torque commands for each of the joints, including the wheels [8]. In addition, other research, like that of Chen and colleagues [9] and Bai and co-workers [10], explores transformable robots which are able to transform their wheels into legs, or use them as legs to reproduce a wheeled or legged locomotion.…”

Section: Introductionmentioning

confidence: 99%

Static Balancing of Wheeled-legged Hexapod Robots

et al. 2020

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Locomotion over different terrain types, whether flat or uneven, is very important for a wide range of service operations in robotics. Potential applications range from surveillance, rescue, or hospital assistance. Wheeled-legged hexapod robots have been designed to solve these locomotion tasks. Given the wide range of feasible operations, one of the key operation planning issues is related to the robot balancing during motion tasks. Usually this problem is related with the pose of the robot's center of mass, which can be addressed using different mathematical techniques. This paper proposes a new practical technique for balancing wheeled-legged hexapod robots, where a Biodex Balance System model SD (for static & dynamic) is used to obtain the effective position of the center of mass, thus it can be recalculated to its optimal position. Experimental tests are carried out to evaluate the effectiveness of this technique and modify and improve the position of hexapod robots' center of mass.

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“…Researchers have invented several different methods for addressing the issue of mobility in varied terrain. Specifically, robots have been designed with treaded wheels, tracks, legs [1], legged-wheels (wheels are rimless, wheel spokes make contact with the ground) [2][3][4][5], wheeled-legs (wheels are on the end of legs and suspensions can be actuated) [6][7][8], and transformable wheels [9][10][11][12]. Although these systems provide an advantage over traditional wheeled robots, optimization is not performed in the vast majority of these studies.…”

Section: Introductionmentioning

confidence: 99%

“…Moreover, as identified by Mintchev and Floreano [13], most researchers in the area of transformable wheels currently focus on the mechanical design and leave control and decision making to future work. For example, most robots with transformable wheels are controlled remotely [11,14], and Kim et al [9] designed a passive triggering mechanism that does not require any controller input.…”

Section: Introductionmentioning

confidence: 99%

Evolving Controllers for a Transformable Wheel Mobile Robot

2018

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Unmanned ground vehicles (UGVs) are well suited to tasks that are either too dangerous or too monotonous for people. For example, UGVs can traverse arduous terrain in search of disaster victims. However, it is difficult to design these systems so that they perform well in a variety of different environments. In this study, we evolve controllers and physical characteristics of a UGV with transformable wheels to improve its mobility in a simulated environment. The UGV’s mission is to visit a sequence of coordinates while automatically handling obstacles of varying sizes by extending wheel struts radially outward from the center of each wheel. Evolved finite state machines (FSMs) and artificial neural networks (ANNs) are compared, and a set of controller design principles are gathered from analyzing these experiments. Results show similar performance between FSM and ANN controllers but differing strategies. Finally, we show that a UGV’s controller and physical characteristics can be effectively chosen by examining results from evolutionary optimization.

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TurboQuad: A Novel Leg–Wheel Transformable Robot With Smooth and Fast Behavioral Transitions

Cited by 89 publications

References 33 publications

Motion Kinematics Analysis of a Horse Inspired Terrain-Adaptive Unmanned Vehicle With Four Hydraulic Swing Arms

Motion Kinematics Analysis of a Horse Inspired Terrain-Adaptive Unmanned Vehicle With Four Hydraulic Swing Arms

Static Balancing of Wheeled-legged Hexapod Robots

Evolving Controllers for a Transformable Wheel Mobile Robot

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