scholarly journals Sensing Terrain Parameters and the Characteristics of Vehicle-terrain Interaction Using the Locomotion System of a Robot

10.5772/7318 ◽  
2010 ◽  
Author(s):  
Ilkka Leppanen
Keyword(s):  
Locomotion System ◽  
Terrain Parameters

scholarly journals Functional Design of a Hybrid Leg-Wheel-Track Ground Mobile Robot

Machines ◽  
2021 ◽  
Vol 9 (1) ◽  
pp. 10
Author(s):  
Luca Bruzzone ◽  
Mario Baggetta ◽  
Shahab E. Nodehi ◽  
Pietro Bilancia ◽  
Pietro Fanghella
Keyword(s):  
Mobile Robot ◽  
High Energy ◽  
General Purpose ◽  
Stair Climbing ◽  
Functional Design ◽  
Multibody Simulation ◽  
Embodiment Design ◽  
Locomotion System ◽  
Hybrid Locomotion ◽  
Wheel Track

This paper presents the conceptual and functional design of a novel hybrid leg-wheel-track ground mobile robot for surveillance and inspection, named WheTLHLoc (Wheel-Track-Leg Hybrid Locomotion). The aim of the work is the development of a general-purpose platform capable of combining tracked locomotion on irregular and yielding terrains, wheeled locomotion with high energy efficiency on flat and compact grounds, and stair climbing/descent ability. The architecture of the hybrid locomotion system is firstly outlined, then the validation of its stair climbing maneuver capabilities by means of multibody simulation is presented. The embodiment design and the internal mechanical layout are then discussed.

A Novel Design of A Locomotion System for Active Capsule Endoscopy

2021 ◽  
Author(s):  
Ahmad M. Alshorman ◽  
Omar A. Ababneh ◽  
Anas I. Abushaker ◽  
Emran M. Tamimi ◽  
Osama Z. Bani-yassin
Keyword(s):  
Capsule Endoscopy ◽  
Locomotion System ◽  
Novel Design

Estimating terrain parameters for a rigid wheeled rover using neural networks

2013 ◽  
Vol 50 (3) ◽  
pp. 165-174 ◽  
Author(s):  
Matthew Cross ◽  
Alex Ellery ◽  
Ala’ Qadi
Keyword(s):  
Neural Networks ◽  
Terrain Parameters

Modelling and simulation of artificial locomotion systems

Robotica ◽  
2005 ◽  
Vol 23 (5) ◽  
pp. 595-606 ◽  
Author(s):  
Manuel F. Silva ◽  
J. A. Tenreiro Machado ◽  
António M. Lopes
Keyword(s):  
Simulation Model ◽  
Fractional Order ◽  
Soil Mechanics ◽  
Viscous Friction ◽  
Legged Locomotion ◽  
Modelling And Simulation ◽  
Locomotion System ◽  
Linear Spring ◽  
Robot Leg ◽  
Robot Body

This paper describes a simulation model for a multi-legged locomotion system with joints at the legs having viscous friction, flexibility and backlash. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. Moreover, the robot body is divided into several segments in order to emulate the behaviour of an animal spine. The foot-ground interaction is modelled through a non-linear spring-dashpot system whose parameters are extracted from the studies on soil mechanics. To conclude, the performance of the developed simulation model is evaluated through a set of experiments while the robot leg joints are controlled using fractional order algorithms.

scholarly journals Design, Modeling, and Control of a Wheel-Legged Locomotion System for the Environmental Hybrid Robot

2011 ◽  
Author(s):  
Gustavo Freitas ◽  
Fernando Lizarralde ◽  
Liu Hsu ◽  
Vitor Paranhos ◽  
Ney R. Salvi dos Reis ◽  
...  
Keyword(s):  
Legged Locomotion ◽  
Modeling And Control ◽  
Locomotion System ◽  
And Control
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