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Experimental Evaluation of Obstacle Clearance by a Hybrid Wheel-Legged Robot [chapter]

Christophe Grand, Pierre Jarrault, Faiz Ben Amar, Philippe Bidaud
<span title="2015-11-13">2015</span> <i title="Springer International Publishing"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/lirc5icuifhy7ln5rynpn4ak2e" style="color: black;">Springer Tracts in Advanced Robotics</a> </i> &nbsp;
This paper deals with the problem of frontal obstacle crossing by a poly-articulated wheeled robot.  ...  We focus on the particular architecture of hybrid wheel-legged robots that are redundantly actuated systems.  ...  Conclusion In this work, we have developed a control algorithm that enhances the climbing performance of a hybrid wheel-legged robot when it crossing a frontal step-like obstacle.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-319-23778-7_4">doi:10.1007/978-3-319-23778-7_4</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/7drfyzatwbh2fhg4gjuuu5lyii">fatcat:7drfyzatwbh2fhg4gjuuu5lyii</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190217103139/http://pdfs.semanticscholar.org/04e7/973c5e74fa8b3f0363f277a1a57cf842cf98.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/04/e7/04e7973c5e74fa8b3f0363f277a1a57cf842cf98.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-319-23778-7_4"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

A Deformable Configuration Planning Framework for a Parallel Wheel-Legged Robot Equipped with Lidar

Fei Guo, Shoukun Wang, Binkai Yue, Junzheng Wang
<span title="2020-10-01">2020</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/taedaf6aozg7vitz5dpgkojane" style="color: black;">Sensors</a> </i> &nbsp;
The wheel-legged hybrid robot (WLHR) is capable of adapting height and wheelbase configuration to traverse obstacles or rolling in confined space.  ...  by abstracting the robot as a deformable bounding box.  ...  Several wheel-legged hybrid robots (WLHRs) have shown their ability of adapting to convex environment.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/s20195614">doi:10.3390/s20195614</a> <a target="_blank" rel="external noopener" href="https://www.ncbi.nlm.nih.gov/pubmed/33019529">pmid:33019529</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/suqpwyvhpjf53lq744l5mo36aa">fatcat:suqpwyvhpjf53lq744l5mo36aa</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20201002064457/https://res.mdpi.com/d_attachment/sensors/sensors-20-05614/article_deploy/sensors-20-05614.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/36/12/361272096a2038c4a4aae3c461d1faae467b27c2.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/s20195614"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> mdpi.com </button> </a>

Design of a leg-wheel hybrid mobile platform

Shuan-Yu Shen, Cheng-Hsin Li, Chih-Chung Cheng, Jau-Ching Lu, Shao-Fan Wang, Pei-Chun Lin
<span title="">2009</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dmucnarmarh2fj6syg5jyqs7ny" style="color: black;">2009 IEEE/RSJ International Conference on Intelligent Robots and Systems</a> </i> &nbsp;
We introduce the design of a leg-wheel hybrid platform Quattroped.  ...  Comparing to most hybrid platforms which have separate mechanisms of wheels and legs, this robot is implemented with a transformation mechanism which directly changes the morphology of wheels (i.e. a full  ...  Here, we adopt a different methodology and design a leg-wheel hybrid robot shown in Figure 1 by incorporating a "transformation mechanism" which directly changes the morphology of wheels (i.e. a full  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2009.5353958">doi:10.1109/iros.2009.5353958</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/iros/ShenLCLWL09.html">dblp:conf/iros/ShenLCLWL09</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/nb4ktotf4ffn7ge6luw74phwzm">fatcat:nb4ktotf4ffn7ge6luw74phwzm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170829115648/http://vigir.missouri.edu/~gdesouza/Research/Conference_CDs/IEEE_IROS_2009/papers/0792.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/7c/bd/7cbd4855435ac12f4832f09a4bdc3ab3513d0733.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2009.5353958"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Kinematic reconfigurability control for an environmental mobile robot operating in the Amazon rain forest

Gustavo Freitas, Gabriel Gleizer, Fernando Lizarralde, Liu Hsu, Ney Robinson Salvi dos Reis
<span title="">2010</span> <i title="Wiley"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/hozy4uxohvhslew6ka2x3ecogy" style="color: black;">Journal of Field Robotics</a> </i> &nbsp;
The proposed control is validated through numerical simulations and preliminary experimental tests with the Environmental Hybrid Robot, an amphibious wheel-legged robot designed for environmental monitoring  ...  Different kinematic control strategies to improve robot mobility are proposed based on (a) ground clearance and orientation, (b) ground clearance and stability margin and (c) wheel traction efficiency.  ...  The proposed control is validated through numerical simulations and experimental tests using an amphibious wheel-legged robot, named Environmental Hybrid Robot, developed by Petrobras S.A. for environmental  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1002/rob.20334">doi:10.1002/rob.20334</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/jtpgb4yv2rbcnhaf56bnukbq6m">fatcat:jtpgb4yv2rbcnhaf56bnukbq6m</a> </span>
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Taxonomy, systems review and performance metrics of planetary exploration rovers

Thaleia Flessa, Euan W. McGookin, Douglas G. Thomson
<span title="">2014</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/ivv5w2wonvgzdfvpd7q7w4wksm" style="color: black;">2014 13th International Conference on Control Automation Robotics &amp; Vision (ICARCV)</a> </i> &nbsp;
A trend is also apparent in the use of wheel -legged hybrid locomotion.  ...  A taxonomy of planetary exploration rovers is presented, followed by a review of systems used in missions and in an experimental phase.  ...  REVIEW OF PLANETARY EXPLORATION ROVERS A review of the planetary exploration rovers successfully used (Table II) and selected experimental designs (Table III) , focusing on wheeled, legged or hybrid  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icarcv.2014.7064547">doi:10.1109/icarcv.2014.7064547</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icarcv/FlessaMT14.html">dblp:conf/icarcv/FlessaMT14</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ulzvbvg7mfc4bbzeaskewobphi">fatcat:ulzvbvg7mfc4bbzeaskewobphi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180724015933/http://eprints.gla.ac.uk/103633/1/103633.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/d5/45/d545ca959a499b81d55714812a9be04b74e29b0e.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icarcv.2014.7064547"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

RHex: A Simple and Highly Mobile Hexapod Robot

Uluc Saranli, Martin Buehler, Daniel E. Koditschek
<span title="">2001</span> <i title="SAGE Publications"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/uhsvnr5ecvb4die3422lvgaz6q" style="color: black;">The international journal of robotics research</a> </i> &nbsp;
In this paper, the authors describe the design and control of RHex, a power autonomous, untethered, compliant-legged hexapod robot.  ...  Abstract In this paper, the authors describe the design and control of RHex, a power autonomous, untethered, compliant-legged hexapod robot.  ...  Acknowledgments This work was supported in part by DARPA/ONR (N00014-98-1-0747).  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1177/02783640122067570">doi:10.1177/02783640122067570</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/3whpx4utjnfwtkf3u5fq6rr5b4">fatcat:3whpx4utjnfwtkf3u5fq6rr5b4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180720032141/https://repository.upenn.edu/cgi/viewcontent.cgi?article=1509&amp;context=ese_papers" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/b5/20/b52094ce35a6cd46227304d993a61d225085779b.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1177/02783640122067570"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> sagepub.com </button> </a>

Quattroped: A Leg--Wheel Transformable Robot

Shen-Chiang Chen, Ke-Jung Huang, Wei-Hsi Chen, Shuan-Yu Shen, Cheng-Hsin Li, Pei-Chun Lin
<span title="">2014</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/56vdvvzi5fai5aigjcxpcegkf4" style="color: black;">IEEE/ASME transactions on mechatronics</a> </i> &nbsp;
This paper reports on the design, integration, and performance evaluation of a novel four-leg/four-wheel transformable mobile robot, Quattroped.  ...  In contrast to most hybrid platforms that have separate mechanisms and actuators for wheels and legs, this robot is implemented with a unique transformation mechanism that directly switches the morphology  ...  ACKNOWLEDGMENT The authors would like to thank National Instruments' Taiwan Branch for their kind support of this study through equipment and technical consulting.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tmech.2013.2253615">doi:10.1109/tmech.2013.2253615</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/6aezr6qwpvefxag3ulh3k7n7iy">fatcat:6aezr6qwpvefxag3ulh3k7n7iy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170215083728/http://peichunlin.me.ntu.edu.tw:80/homepage/research/Publication/Journal%20papers/2014%20TM.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/37/f9/37f93c5b5d04c279f4d47ad3530ef25a3aaf0188.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tmech.2013.2253615"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Planetary robotics exploration activities at DLR

Bernd Schäfer, Alexandre Carvalho Leite
<span title="2014-03-22">2014</span> <i title="Springer Nature"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/vuat3rm7wjbcrp3ovhxjd5fomm" style="color: black;">Computational and Applied Mathematics</a> </i> &nbsp;
Moreover, a shift from a traditional bogie and wheel design to more agile wheel-legged combined systems seems to be beneficial to reach the goals.  ...  This is the main driver for a robotics institute to combine mechatronics functionalities to develop an intelligent mobile vehicle with an appropriate number of wheels, and having specific kinematics and  ...  The authors wish to gratefully acknowledge the support by HGF and EC.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/s40314-014-0122-2">doi:10.1007/s40314-014-0122-2</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/6ffbfzc65naepgbmki6etm3cf4">fatcat:6ffbfzc65naepgbmki6etm3cf4</a> </span>
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Posture Reconfiguration and Navigation Maneuvers on a Wheel-Legged Hydraulic Robot [chapter]

Christopher Yee Wong, Korhan Turker, Inna Sharf, Blake Beckman
<span title="">2015</span> <i title="Springer International Publishing"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/lirc5icuifhy7ln5rynpn4ak2e" style="color: black;">Springer Tracts in Advanced Robotics</a> </i> &nbsp;
Wheel-legged hybrid robots are known to be extremely capable in negotiating different types of terrain as they combine the efficiency of conventional wheeled platforms and the rough terrain capabilities  ...  The Micro-Hydraulic Toolkit (MHT), developed by Defense Research and Development Canada at the Suffield Research Centre, is one such quadruped hybrid robot.  ...  EXPERIMENTAL RESULTS In order to test MHT's capabilities as a hybrid vehicle, we devised a series of maneuvers and obstacles for the robot to perform and overcome.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-319-07488-7_15">doi:10.1007/978-3-319-07488-7_15</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/jyxaczhxgrhqxczrhwl4covpze">fatcat:jyxaczhxgrhqxczrhwl4covpze</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20150304035705/http://www.araa.asn.au/fsr/fsr2013/papers/pap150s2.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/6c/14/6c14bff43661352790e7092563e93b1e360eed31.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-319-07488-7_15"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

Lateral Stability of a Mobile Robot Utilizing an Active Adjustable Suspension

Hui Jiang, Guoyan Xu, Wen Zeng, Feng Gao, Kun Chong
<span title="2019-10-18">2019</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/smrngspzhzce7dy6ofycrfxbim" style="color: black;">Applied Sciences</a> </i> &nbsp;
To analyze the effects of the suspensions' inputs on robot stability, a mathematic model of the robot on side slopes is presented.  ...  Mobile robots are expected to traverse on unstructured terrain, especially uneven terrain, or to climb obstacles or slopes.  ...  Grand et al. developed a wheeled-legged hybrid mobile robot and proposed a control method that optimized both traction and stability [17, 19] .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/app9204410">doi:10.3390/app9204410</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ivuxhwo3yndctmwdrl35laanca">fatcat:ivuxhwo3yndctmwdrl35laanca</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200208053135/https://res.mdpi.com/d_attachment/applsci/applsci-09-04410/article_deploy/applsci-09-04410.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/56/49/5649a90636ce4d02ecfcf5e7db62ba766c940845.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/app9204410"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> mdpi.com </button> </a>

Trafficability Assessment of Deformable Terrain through Hybrid Wheel-Leg Sinkage Detection

Francisco J. Comin, William A. Lewinger, Chakravarthini M. Saaj, Marcus C. Matthews
<span title="2016-02-01">2016</span> <i title="Wiley"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/hozy4uxohvhslew6ka2x3ecogy" style="color: black;">Journal of Field Robotics</a> </i> &nbsp;
To tackle this issue, the work presented in this paper investigates the novel application of an existing enhanced-mobility locomotion concept, a hybrid wheel-leg equipped by a lightweight micro-rover,  ...  This is achieved by combining an improved vision-based approach and a new ranging-based approach to wheel-leg sinkage detection.  ...  The work presented in this paper is also funded by a European Postgraduate Scholarship of Fundacion Obra Social "laCaixa".  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1002/rob.21645">doi:10.1002/rob.21645</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/kihyueviezghhimysc5penwdhq">fatcat:kihyueviezghhimysc5penwdhq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190428185603/http://epubs.surrey.ac.uk/811231/17/ROB-15-0049-R2_src.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/7e/15/7e153fda145429e4fa7eaaf4d11c9175031fe678.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1002/rob.21645"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> wiley.com </button> </a>

Kinematic analysis and stability optimization of a reconfigurable legged-wheeled mini-rover

Christophe Grand, Faiz Ben Amar, Philippe Bidaud, Grant R. Gerhart, Chuck M. Shoemaker, Douglas W. Gage
<span title="2002-07-17">2002</span> <i title="SPIE"> Unmanned Ground Vehicle Technology IV </i> &nbsp;
A method to identify in-situ the wheel-ground mechanical contact properties is proposed and used to determine an optimal traction torque.  ...  analysis and stability optimisation of a reconfigurable leggedwheeled mini-rover. ABSTRACT This paper deals with the optimisation of locomotion performances of vehicle used for planetary exploration.  ...  Geophysical properties of the ground are experimentally defined by a triaxial test performed on a sample of soil.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1117/12.474461">doi:10.1117/12.474461</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/zea65lziubcjpj2yaprvscnk3u">fatcat:zea65lziubcjpj2yaprvscnk3u</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210718143348/https://hal.archives-ouvertes.fr/hal-03178090/file/2002ACTI38.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/f7/fc/f7fc84981463aac7dfd7c5b1862fb039f2854117.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1117/12.474461"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Service Robots and Humanitarian Demining [chapter]

Maki K.
<span title="2006-12-01">2006</span> <i title="I-Tech Education and Publishing"> Mobile Robots: towards New Applications </i> &nbsp;
The main idea underlying the wheeled-legged robot is the use of rear wheels to carry most of the weight and front legs to improve surface grip on climbing surface and overcome obstacles (See Fig. 12 )  ...  WHEELEG (University of CATANIA, Italy) Since 1998, the WHEELEG robot has been designed and built for the purpose to investigate the capabilities of a hybrid wheeled and legged locomotion structure in rough  ...  This book is the result of inspirations and contributions from many researchers worldwide. It presents a collection of wide range research results of robotics scientific community.  ... 
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<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190502141828/https://cdn.intechopen.com/pdfs/68.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/68/3e/683eb70c99c62ac758af838fdc543d11f12803a4.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5772/4704"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

A hybrid tactile sensor-based obstacle overcoming method for hexapod walking robots

Mindaugas Luneckas, Tomas Luneckas, Dainius Udris, Darius Plonis, Rytis Maskeliūnas, Robertas Damaševičius
<span title="2020-12-06">2020</span> <i title="Springer Science and Business Media LLC"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/ztgbydz7zbcddosaxoezyks7ne" style="color: black;">Intelligent Service Robotics</a> </i> &nbsp;
By using tactile sensors positioned on the front side of the legs, we demonstrate that a robot is able to successfully overcome obstacles close to robots height in the terrains of different complexity.  ...  However, overcoming diverse terrain obstacles still remains a challenging task even for multi-legged robots with a high number of degrees of freedom.  ...  Experiments Further, we present results of experimental evaluation of the tactile obstacle overcoming.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/s11370-020-00340-9">doi:10.1007/s11370-020-00340-9</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/jwimmsvw6jcpdg3k6jb22kuvqy">fatcat:jwimmsvw6jcpdg3k6jb22kuvqy</a> </span>
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Energy Efficiency of a Quadruped Robot with Neuro-Inspired Control in Complex Environments

Paolo Arena, Luca Patanè, Salvatore Taffara
<span title="2021-01-14">2021</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/a2yvk5xhdnhpxjnk6yd33uudqq" style="color: black;">Energies</a> </i> &nbsp;
The robot's performance evaluated on structurally complex terrain in a dynamic simulation environment is compared with other robotic structures on wheels andwith hybrid architectures.  ...  The adaptation of the leg trajectories is evaluated depending on the terrain characteristics, improving the locomotion performance.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/en14020433">doi:10.3390/en14020433</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/porpy3uuarhcdm3bf5x34y3q7u">fatcat:porpy3uuarhcdm3bf5x34y3q7u</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210118131218/https://res.mdpi.com/d_attachment/energies/energies-14-00433/article_deploy/energies-14-00433-v2.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/58/a6/58a6f17d19dfa27e32ead43cccc32fac1a44da0c.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/en14020433"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> mdpi.com </button> </a>
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