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Keywords: Uneven terrain
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Proceedings Papers

Kinematics of Two Wheels Joined by a Variable-Length Axle on Uneven Terrain

P. W. Davis, S. V. Sreenivasan, B. J. Choi
Proc. ASME. DETC97, Volume 2: 23rd Design Automation Conference, V002T29A078, September 14–17, 1997
Publisher: American Society of Mechanical Engineers
Paper No: DETC97/DAC-3857
https://doi.org/10.1115/DETC97/DAC-3857
... joining the wheel contact points is not coplanar with the axle, rolling without slip is possible only if the wheels are driven at the same speed. Otherwise, the wheels must slip against the terrain due to kinematic constraints. One method to prevent slip on uneven terrain is to use a variable-length axle...
View Paper titled, Kinematics of Two Wheels Joined by a Variable-Length Axle on <span class="search-highlight">Uneven</span> <span class="search-highlight">Terrain</span>
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Topics: Kinematics, Vehicles, Wheels
Proceedings Papers

Dynamical Modelling and Control of Snake-Like Motion in Vertical Plane for Locomotion in Unstructured Environments

Mohammadali Javaheri Koopaee, Christopher Pretty, Koen Classens, XiaoQi Chen
Proc. ASME. IDETC-CIE2019, Volume 9: 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, V009T12A004, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97227
https://doi.org/10.1115/DETC2019-97227
... of the robot are obtained. Moreover, using the well-known Spring-Damper contact model, external contact forces are taken into account and pedal wave locomotion on uneven terrain is modelled and simulated. Enabled by the dynamical model of the robot, an adaptive controller based on external force feedback...
View Paper titled, Dynamical Modelling and Control of Snake-Like Motion in Vertical Plane for Locomotion in Unstructured Environments
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Topics: Biomimetics, Control equipment, Dampers, Equations of motion, Force feedback, Kinematics, Modeling, Robots, Springs, Stairs
Proceedings Papers

Kinematics of Wheeled Mobile Robots With Toroidal Wheels on Uneven Terrain

Nilanjan Chakraborty, Ashitava Ghosal
Proc. ASME. IDETC-CIE2003, Volume 2: 29th Design Automation Conference, Parts A and B, 1331-1341, September 2–6, 2003
Publisher: American Society of Mechanical Engineers
Paper No: DETC2003/DAC-48846
https://doi.org/10.1115/DETC2003/DAC-48846
... 19 06 2008 This paper deals with the kinematic analysis of a wheeled mobile robot (WMR) moving on uneven terrain. It is known in literature that a wheeled mobile robot, with a fixed length axle and wheels modeled as thin disk, will undergo slip when it negotiates an uneven terrain...
View Paper titled, Kinematics of Wheeled Mobile Robots With Toroidal Wheels on <span class="search-highlight">Uneven</span> <span class="search-highlight">Terrain</span>
Open the PDF for Kinematics of Wheeled Mobile Robots With Toroidal Wheels on <span class="search-highlight">Uneven</span> <span class="search-highlight">Terrain</span> in another window
Topics: Kinematics, Mobile robots, Wheels, Degrees of freedom, Differential equations, Disks, Geometry, Kinematic analysis, Simulation results, Vehicles