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Novel mobile mechanism design for an obstacle-overcoming robot using rotating spokes

Youngjoo Lee, Myoungjae Seo, Sijun Ryu, Hwa Soo Kim, Taewon Seo
2021 IEEE Access  
The ability for overcoming obstacles is an essential for robots cleaning the exterior walls of buildings. So various obstacle overcoming mechanisms were applied.  ...  Obstacle-overcoming Concept and Scenario Obstacle height Obstacle 45 º The basic concept for obstacle-overcoming is using the rotation of the wheel assembled with different spoke lengths.  ... 
doi:10.1109/access.2021.3109871 fatcat:sqiksbozcff5xhge5kbaeereqi

Design, construction, and testing of a new class of mobile robots for cave exploration

Ivan Siles, Ian D. Walker
2009 2009 IEEE International Conference on Mechatronics  
This paper introduces a novel mobile robot design concept aimed at Exploration of subterranean spaces.  ...  This combination offers performance not possible with conven tional "monolithic" wheeled or tracked mobile robots, or with current robot snakes.  ...  DESIGN OF FRESE I In this section, the novel design and construction of an initial prototype of a novel mobile robot for cave exploration (FRESE, Flexible Robot for Exploration of Subterranean Environments  ... 
doi:10.1109/icmech.2009.4957126 fatcat:sor5gs2finhmbjammxq4fb4um4

Type Synthesis and Kinematic Analysis of a 2-DOF Shape-morphing Wheel Mechanism for Step-overcoming

Youngsoo Kim, Hwa Soo Kim, TaeWon Seo
2021 IEEE Access  
Fig. 2 presents two examples of a mobile robot with the proposed shape-morphing wheel, where it overcomes a step and stairs in an indoor environment.  ...  To improve the mobility of legged wheel mechanisms on a plane, circular wheels have been added to the ends of their spokes; for example, a two wheel-legged compact mechanism, Ascento, has been designed  ...  Based on this mechanism, we implement the proposed 2-DOF motions of the shape-morphing wheel mechanism successfully.  ... 
doi:10.1109/access.2021.3089637 fatcat:2lkt2mfqj5c3royv3f32yjso2e

Practical Obstacle-Overcoming Robot with a Heterogeneous Sensing System: Design and Experiments

Yuanhao Huang, Ruifeng Meng, Jingyang Yu, Ziqi Zhao, Xinyu Zhang
2022 Machines  
The robot is flexible and fast in moving mode and can overcome obstacles safely, reliably, and simply. This study describes the robot's design, strategy, simulation, and experiments.  ...  This paper presents an omnidirectional deformable wheeled robot based on a heterogeneous sensing system. We presented a novel structure with dual swing arms and six wheels.  ...  Politecnico di Torino presented an innovative solution for a small hybrid mobile robot [31] .  ... 
doi:10.3390/machines10050289 fatcat:foibvnxsmnfg3gikh4qug72vvm

Performance comparison of adaptive mechanisms of cleaning module to overcome step-shaped obstacles on façades

Jooyoung Hong, Garam Park, Jiseok Lee, Jongwon Kim, Hwa Soo Kim, TaeWon Seo
2019 IEEE Access  
In this study, a passive linkage suspension mechanism and tri-star wheels are applied to solve the problems of unclean zones due to failures during overcoming obstacles and the problems through the use  ...  Robots are replacing human workers because cleaning work on high-rise buildings using gondolas can be dangerous.  ...  Many robots use the passive linkage suspension mechanisms to overcome obstacles.  ... 
doi:10.1109/access.2019.2950689 fatcat:2zmhi47mone3xoi32uhxu4mb5a

A Concept Selection Method for Designing Climbing Robots

Jiang Long Guo, Laura Justham, Michael Jackson, Robert Parkin
2015 Key Engineering Materials  
This paper presents a concept selection methodology, inspired by the Verein Deutscher Ingenieure (VDI) model and Pugh's weighted matrix method, for designing climbing robots conceptually based on an up-to-date  ...  The proposed method is illustrated with a case study of ongoing research, the investigation of an adaptable and energetically autonomous climbing robot, in Loughborough University.  ...  Acknowledgments The authors acknowledge support from the EPSRC Centre for Innovative Manufacturing in Intelligent Automation, in undertaking this research work under grant reference number EP/IO33467/1  ... 
doi:10.4028/www.scientific.net/kem.649.22 fatcat:6ygx5nywijbezjzbscxnhpjene

Novel Compliant omnicrawler-wheel transforming module [article]

Akash Singh, Vinay Rodrigues, Enna Sachdeva, Sai Hanisha, Madhava Krishna
2018 arXiv   pre-print
This paper presents a novel design of a crawler robot which is capable of transforming its chassis from an Omni crawler mode to a large-sized wheel mode using a novel mechanism.  ...  Mechanical design of the robot has been explained in a detailed manner in this paper and also the transforming experiment and torque analysis has been shown clearly  ...  There have been many studies about robot mobility for example the study of locomotive mechanism, obstacle traversal, autonomous traveling based on the local and/or global localization, collision avoidance  ... 
arXiv:1806.00765v2 fatcat:uuusrix3ejg5bhgon7lctj7ggy

Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility

Alexander S. Boxerbaum, Matthew A. Klein, Jeffery E. Kline, Stuart C. Burgess, Roger D. Quinn, Richard Harkins, Ravi Vaidyanathan
2012 Journal of Robotics and Mechatronics  
In this work, we report on the design and optimization of a biologically inspired amphibious robot for deployment and operation in an ocean beach environment.  ...  A waterproofing strategy is also tested and discussed, providing a foundation for future generations of amphibious mobile robots.  ...  Clifford Whitcomb and the Department of Systems Engineering, the Center for Robotics and Unmanned Systems Education and Research (CRUSER), and the Office of Research at the US Naval Postgraduate School  ... 
doi:10.20965/jrm.2012.p0629 fatcat:b4nommkkincfzot3tc7r5uyc7q

Table of Contents

2020 IEEE/ASME transactions on mechatronics  
Cheah 1971 Novel Angled Spoke-Based Mobile Robot Design for Agile Locomotion With Obstacle-Overcoming Capability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ...  Seo 1859 Novel Growing Robot With Inflatable Structure and Heat-Welding Rotation Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.1109/tmech.2020.3012328 fatcat:wbz3thsnnbdxzasfudhlxenvnm

Design and testing of a highly mobile Insect-inspired autonomous robot In a beach environment

A.S. Boxerbaum, R.J. Bachmann, R.D. Quinn, R.M. Harkins, T. Dunbar, S.C. Burgess, R. Vaidyanathan
2010 International Journal of Design & Nature and Ecodynamics  
In this work, we report the design, fabrication, control system development, simulation, and field testing of a biologically inspired autonomous robot for deployment and operation in an ocean beach environment  ...  The fusion of passive mechanisms and active control algorithms results in a robot with mobility comparable to a legged vehicle with a control system of comparable simplicity to a wheeled robot. based on  ...  based on our results with the beach robot, this paper also proposes a novel design of an amphibious surf-zone robot.  ... 
doi:10.2495/dne-v4-n4-319-336 fatcat:zhwgacsdjzcwrndsxuyqrzqiuq

Planning with the STAR(s)

Konstantinos Karydis, David Zarrouk, Ioannis Poulakakis, Ronald S. Fearing, Herbert G. Tanner
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The reported results provide a first glimpse on the capabilities of this novel, 3Dprinted robot in performing autonomously non-trivial motion planning tasks in environments populated with obstacles.  ...  We employ methods from sampling-based motion planning under nonholonomic constraints, and implement in open loop the generated path on the physical robot for various environments of increasing complexity  ...  of an obstacle for any robot orientation.  ... 
doi:10.1109/iros.2014.6942981 dblp:conf/iros/KarydisZPFT14 fatcat:s7a7jvjx75dafewapzssz3zt34

A small wall-walking robot with compliant, adhesive feet

K.A. Daltorio, A.D. Horchler, S. Gorb, R.E. Ritzmann, R.D. Quinn
2005 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Insects and geckos can provide inspiration for both novel adhesive technology and for the locomotory mechanisms employed during climbing.  ...  For this work, Mini-Whegs™, a small quadruped robot that uses wheel-legs for locomotion, was altered to explore the feasibility of scaling vertical surfaces using compliant, adhesive feet.  ...  ACKNOWLEDGMENT The authors would also like to thank William Lewinger and Gregory Wile for their valuable contributions.  ... 
doi:10.1109/iros.2005.1545596 dblp:conf/iros/DaltorioHGRQ05 fatcat:hllgdnhi7nbylheyz2cu5jleru

Degree of Achievability of Omnidirectional Motion in Various Mobile Robot Designs: A Review

Ajju Raja Justus
2016 IAES International Journal of Robotics and Automation  
Therefore, by the end of this article, we can have an understanding of how much effective each driving mechanism is in producing omnidirectional mobility.</p>  ...  Omnidirectional mobility is a major functional requirement for performing more complex actions.  ...  in Various Mobile Robot Designs ...  ... 
doi:10.11591/ijra.v5i1.pp17-28 fatcat:qttnowl3zrc2rgczy2qa5zz2ny

A biologically inspired micro-vehicle capable of aerial and terrestrial locomotion

Richard J. Bachmann, Frank J. Boria, Ravi Vaidyanathan, Peter G. Ifju, Roger D. Quinn
2009 Mechanism and Machine Theory  
Index Terms -animal inspired locomotion mechanisms, micro air vehicles, legged robots, micro robots, flying and walking mobility I.  ...  Likewise, highly mobile ground vehicles using compliant legs have been constructed as short as 9 cm that can run rapidly over obstacles in excess of their own height [2].  ...  Whegs™ are designed this way to model the front feet of cockroach, which lift high and in front of the animal to overcome obstacles [34] .  ... 
doi:10.1016/j.mechmachtheory.2008.08.008 fatcat:fh2x6qerrbgghadzukm2d2hk6a

Development and Analysis of a Closed-Chain Wheel-Leg Mobile Platform

Chaoran Wei, Yanan Yao, Jianxu Wu, Ran Liu
2020 Chinese Journal of Mechanical Engineering  
The mobility of the constructed platform is calculated through an obstacle-surmounting probability analysis.  ...  To improve the platform's obstacle-surmounting performance, the dimensional parameters of the closed-chain mechanism are optimized and the design requirements for the platform's frame are analyzed.  ...  Therefore, we propose a wheel-leg mobile platform based on a closed-chain mechanism. The linkages of the closed-chain leg mechanism can be used as spokes for wheels.  ... 
doi:10.1186/s10033-020-00493-9 fatcat:jkmld64f4bcp3g3lro7zsamyxu
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