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Agile Wheeled Mobile Robots for Service in Natural Environment
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Author(s): Jean-Christophe Fauroux (Clermont University, France), Belhassen-Chedli Bouzgarrou (Clermont University, France), Nicolas Bouton (Clermont University, France), Philippe Vaslin (Clermont University, France), Roland Lenain (Clermont University, France)and Frédéric Chapelle (Clermont University, France)
Copyright: 2014
Pages: 44
Source title:
Robotics: Concepts, Methodologies, Tools, and Applications
Source Author(s)/Editor(s): Information Resources Management Association (USA)
DOI: 10.4018/978-1-4666-4607-0.ch034
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Abstract
Although the wheeled locomotion proved to be very efficient on smooth grounds, it still encounters great difficulties in natural environments, where the ground is subject to wide variations in term of geometry (irregular surface, presence of obstacles...) and material properties (cohesion, grip condition...). This chapter presents recent developments and original systems that improve the capacities of wheeled mobile service robots on natural ground. First is considered the case of low speed motion. Section 2 presents recent results on reconfigurable suspensions that have two states and can decrease lateral friction and energy consumption during turns for skid-steering vehicles. Section 3 presents an original hybrid kinematics that combines wheels with an articulated frame for creating a mobile-wheeled robot with high obstacle-climbing capacities, using only one supplemental actuator. Other advances deal with high-speed motion. Section 4 describes a new device dedicated to vehicle dynamic stability, which improves lateral stability on fast mobile robots during turns and contributes to rollover prevention. Finally, Section 5 introduces innovative suspensions with two DOF for fast obstacle crossing. They damp vertical shocks, such as ordinary suspensions, but also horizontal ones, contributing to tip-over prevention on irregular grounds that feature many steep obstacles.
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