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Proceedings ArticleDOI

A semi-active robot for steep obstacle ascent

S. Avinash, +4 more
- pp 122-127
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TLDR
A semi-active robot for climbing steep obstacles like steps, curbs, etc. that has the advantage of height-independent climbing motion as in the case of passive mechanism along with the extra freedom of active joints for maintaining vehicle stability, only when required.
Abstract: 
In this paper we propose a semi-active robot for climbing steep obstacles like steps, curbs, etc. The key novelty of the proposed robot lies in the use of a passive mechanism for climbing steps of smaller heights and motor only while climbing steps of bigger heights. Analysis of the robot's stability during its ascent phase is also investigated. Model based control is used to achieve step climbing. The other novelty of the robot, in contrast to existing active suspension step climbers, is that it does not need the knowledge of step height beforehand. Therefore, the mechanism has the advantage of height-independent climbing motion as in the case of passive mechanism along with the extra freedom of active joints for maintaining vehicle stability, only when required. Efficacy of the mechanism is exhibited through simulations on steps of various heights.

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Citations
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Proceedings ArticleDOI

A compliant multi-module robot for climbing big step-like obstacles

S. Avinash, +4 more
TL;DR: A novel compliant robot is proposed for traversing on unstructured terrains and is successfully able to climb maximum heights upto three times and six times the wheel diameter using three and five modules, respectively.
Journal ArticleDOI

Vertical Dynamics Modeling and Simulation of a Six-Wheel Unmanned Ground Vehicle

Vahid Tavoosi, +2 more
- 10 Jun 2018 - 
TL;DR: Aiming at modeling of vehicle vertical dynamics, basic and geometrical parameters defined and degrees-of-freedom specified on a compromise between accuracy and complexity of two models using two different modeling methods.
Journal ArticleDOI

Design and Analysis of a Climbing Mechanical Appliance

Chao Li, +2 more
- 01 Jun 2014 - 
TL;DR: In this paper, a climbing mechanical appliance is designed to ensure smooth and steady movement of the appliance, and a counterweight balancing mechanism is used to adjust the centroid according to actual situation.
References
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Journal ArticleDOI

Urban search and rescue robots: from tragedy to technology

Davids
- 01 Jan 2002 - 
Journal ArticleDOI

Mobility evaluation of wheeled all-terrain robots

Thomas Thueer, +1 more
- 01 May 2010 - 
TL;DR: This work aims at providing a basis for the evaluation and comparison of the mobility performance of wheeled, all-terrain robots with respect to terrainability, and Precisely defined existing and novel metrics are proposed for this purpose.
Proceedings ArticleDOI

High-step climbing by a crawler robot DIR-2 - realization of automatic climbing motion -

Akiya Kamimura, +1 more
TL;DR: A unique shaped crawler robot aimed for high-step climbing that is considered the most necessary ability in urban search and rescue operations and implemented a height-independent climbing motion algorithm based on statics and geometrical analysis in climbing process is introduced.
Proceedings ArticleDOI

Step negotiation with wheel traction: a strategy for a wheel-legged robot

Korhan Turker, +2 more
TL;DR: Any step height up to this maximum achievable height can be negotiated autonomously with a single set of controller parameters, without knowledge of the step height or distance to the step.
Proceedings ArticleDOI

A novel compliant rover for rough terrain mobility

Arun Kumar Singh, +3 more
TL;DR: The proposed mechanism is simpler than the existing suspension mechanism in the sense that the number of links and joints has been significantly reduced without compromising the climbing ability of the rover.