Rough Terrain Research Papers - Academia.edu (original) (raw)

In this paper the MRL rescue robot team and its robots are explained. We have designed and built three new robots including two autonomous indoor robots and one out-door (rough terrain) robot for different situations/arenas. Our main goal... more

In this paper the MRL rescue robot team and its robots are explained. We have designed and built three new robots including two autonomous indoor robots and one out-door (rough terrain) robot for different situations/arenas. Our main goal of this activity is to achieve a practical rescue robot for real situation such as earthquake which is quite common in our

While significant recent progress has been made in development of mobile robots for planetary surface exploration, there remain major challenges. These include increased autonomy of operation, traverse of challenging terrain, and... more

While significant recent progress has been made in development of mobile robots for planetary surface exploration, there remain major challenges. These include increased autonomy of operation, traverse of challenging terrain, and fault-tolerance under long, unattended periods of use. We have begun work which addresses some of these issues, with an initial focus on problems of high risk access, that is,

This paper introduces jumping robots as a means to traverse rough terrain; such terrain can pose problems for traditional wheeled, tracked and legged designs. The diversity of jumping mechanisms found in nature is explored to support the... more

This paper introduces jumping robots as a means to traverse rough terrain; such terrain can pose problems for traditional wheeled, tracked and legged designs. The diversity of jumping mechanisms found in nature is explored to support the theory that jumping is a desirable ability for a robot locomotion system to incorporate, and then the size-related constraints are determined from first principles. A series of existing jumping robots are presented and their performance summarized. The authors present two new biologically inspired jumping robots, Jollbot and Glumper, both of which incorporate additional locomotion techniques of rolling and gliding respectively. Jollbot consists of metal hoop springs forming a 300 mm diameter sphere, and when jumping it raises its centre of gravity by 0.22 m and clears a height of 0.18 m. Glumper is of octahedral shape, with four 'legs' that each comprise two 500 mm lengths of CFRP tube articulating around torsion spring 'knees'. It is able to raise its centre of gravity by 1.60 m and clears a height of 1.17 m. The jumping performance of the jumping robot designs presented is discussed and compared against some specialized jumping animals. Specific power output is thought to be the performance-limiting factor for a jumping robot, which requires the maximization of the amount of energy that can be stored together with a minimization of mass. It is demonstrated that this can be achieved through optimization and careful materials selection.

Numerical simulation analysis of the motion of wheeled mobile robots is significant for both their R&D and control phases, especially due to the recent increase in the number of planetary exploration missions. Using the... more

Numerical simulation analysis of the motion of wheeled mobile robots is significant for both their R&D and control phases, especially due to the recent increase in the number of planetary exploration missions. Using the position/orientation of the rover body and all the joint angles as generalized coordinates, the Jacobian matrices and recursive dynamic models are derived. Terramechanics models for calculating the forces and moments that act on the wheel-as a result of the deformable soil-are introduced in consideration of the effect of normal force. A rough terrain modeling method is developed for estimating the wheel-soil interaction area, wheel sinkage, and the terminal coordinate. A simulation program that includes the above techniques is developed using Matlab and SpaceDyn Toolbox. Experimental results from a 4-wheeled mobile robot moving on Toyoura soft sand are used to verify the fidelity of the simulation. A simulation example of a robot moving on a random rough terrain is also presented.

The Wheeled robots cannot work properly on the rocky surface or uneven surface. They consume a lot of power and struggle when they go on rocky surface. To tackle the disadvantages of wheeled robot we replaced the wheels like shaped legs... more

The Wheeled robots cannot work properly on the rocky surface or uneven surface. They consume a lot of power and struggle when they go on rocky surface. To tackle the disadvantages of wheeled robot we replaced the wheels like shaped legs with the spider legs or spider arms. Quadruped robot has complicated moving patterns and it can also move on surfaces where wheeled shaped robots would fail. They can easily walk on rocky or uneven surface. The main purpose of the project is to develop a consistent platform that enables the implementation of steady and fast static/dynamic walking on ground/Platform to deliver medicines to covid-19 patients. The main advantage of spider robot also called as quadruped robot is that it is Bluetooth controlled robot, through the android application, we can control robot from anywhere; it avoids the obstacle using ultrasonic sensor.

Ground-penetratingradarGPRsurveyswereacquiredof rocks on the highly fractured summit of Turtle Mountain in Canada. In 1903 a disastrous rock slide occurred at Turtle Mountain and it still poses a geologic hazard. Dips, shapes, and... more

Ground-penetratingradarGPRsurveyswereacquiredof rocks on the highly fractured summit of Turtle Mountain in Canada. In 1903 a disastrous rock slide occurred at Turtle Mountain and it still poses a geologic hazard. Dips, shapes, and penetration depths of fractures are important parameters inslope-stabilityanalysis.Determinationoffractureorienta- tion at Turtle Mountain has been based mostly on areal geo- logic mapping and, most recently, on data collected from boreholes.The purpose of GPR surveys was to test, confirm, and extend information about fractures and bedding planes. Data acquisition was complicated by the rough terrain; be- cause slopes are steep and uneven. This also complicated analysis of the data. Measurement of in situ velocity — an important value for migration — was impossible. Instead, data were migrated with different velocities and data results were chosen that were considered to be reasonable.Analysis and interpretation of the data, resulted in confirmation and extension of the a priori information on orientations of frac- tures and bedding planes at Turtle Mountain. Despite the rough terrain and highly fractured rock mass, GPR surveys provide reliable information about the shapes and density of fractures—informationimportantforslope-stabilityevalua- tion. The most reliable migration results obtained for veloci- ties were considerably less than the standard velocities re- corded for limestone, the dominant lithofacies at Turtle Mountain. We interpret this observation as an indicator of water within the rock. However, thorough investigation of thisconclusionremainsaprojectforfuturework.

Roller-walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tip of each leg. The passive wheel can be transformed into sole mode by rotating ankle roll joints when roller-walker walks on rough terrain. This... more

Roller-walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tip of each leg. The passive wheel can be transformed into sole mode by rotating ankle roll joints when roller-walker walks on rough terrain. This paper describes adaptation of characteristics of the propulsion by a leg trajectory in the case of wheeled locomotion. Firstly, the authors demonstrate that Roller-Walker could achieve high-speed propulsion and slope climbing propulsion by simply changing parameters of the leg trajectory on the hardware experiments. Secondly, an asymptotic parameter tuning method is introduced to perform specified velocity on the different surfaces with different friction. The method is evaluated in numerical simulations. The results suggest that the method allows the Roller-Walker to have a function similar to an automatic transmission of a usual car.

An algorithm is presented for wheeled mobile robot trajectory generation that achieves a high degree of generality and efficiency. The generality derives from numerical linearization and inversion of forward models of propulsion,... more

An algorithm is presented for wheeled mobile robot trajectory generation that achieves a high degree of generality and efficiency. The generality derives from numerical linearization and inversion of forward models of propulsion, suspension, and motion for any type of vehicle. Efficiency is achieved by using fast numerical optimization techniques and effective initial guesses for the vehicle controls parameters. This approach can accommodate such effects as rough terrain, vehicle dynamics, models of wheel-terrain interaction, and other effects of interest. It can accommodate boundary and internal constraints while optimizing an objective function that might, for example, involve such criteria as obstacle avoidance, cost, risk, time, or energy consumption in any combination. The algorithm is efficient enough to use in real time due to its use of nonlinear programming techniques that involve searching the space of parameterized vehicle controls. Applications of the presented methods a...

The capability of autonomous and semi-autonomous platforms to function in the shallow water surf zone is critical for a wide range of military and civilian operations. Of particular importance is the ability to transition between... more

The capability of autonomous and semi-autonomous platforms to function in the shallow water surf zone is critical for a wide range of military and civilian operations. Of particular importance is the ability to transition between locomotion modes in aquatic and terrestrial settings. The study of animal locomotion mechanisms can provide specific inspiration to address these demands. In this work, we summarize on-going efforts to create an autonomous, highly mobile amphibious robot. A water-resistant amphibious prototype design, based on the biologically-inspired Whegstrade platform, has been completed. Through extensive field-testing, mechanisms have been isolated to improve the implementation of the Whegstrade concept and make it more suited for amphibious operation. Specific design improvements include wheel-leg propellers enabling swimming locomotion, an active, compliant, water resistant, non-backdrivable body joint, and improved feet for advanced mobility. These design innovations allow Whegstrade to navigate on rough terrain and underwater, and accomplish tasks with little or no low-level control, thus greatly simplifying autonomous control system implementation. Complementary work is underway for autonomous control. We believe these results can lay the foundation for the development of a generation of amphibious robots with an unprecedented versatility and mobility