Off-road robot modeling with dextrous manipulation kinematics

被引：4
|
作者：
Auchter, Joseph [1 ]
Moore, Carl A. [1 ]
机构：
[1] FAMU FSU Coll Engn, Dept Mech Engn, Tallahassee, FL USA
来源：
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 | 2008年
关键词：
D O I：
10.1109/ROBOT.2008.4543559
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We present a novel way of modeling wheeled vehicles on outdoor terrains. Adapting concepts from dextrous manipulation, we precisely model the way that three dimensional wheels roll over uneven ground. The techniques used are easily adaptable to other vehicle designs of arbitrary complexity. Our modeling method is used to validate a new concept for design of off-road vehicle wheel suspensions, called Passive Variable Camber (PVC). Simulation results of a three-wheeled vehicle with PVC demonstrate that the vehicle can negotiate an extreme terrain without kinematic slip, thus improving vehicle efficiency and performance.
引用
收藏
页码：2313 / 2318
页数：6
相关论文
共 50 条
  • [31] Off-road on the dull
    Karasev, E.
    NOVYI MIR, 2014, (08): : 81 - 81
  • [32] A Multirange Architecture for Collision-Free Off-Road Robot Navigation
    Sermanet, Pierre
    Hadsell, Raia
    Scoffier, Marco
    Grimes, Matt
    Ben, Jan
    Erkan, Ayse
    JOURNAL OF FIELD ROBOTICS, 2009, 26 (01) : 52 - 87
  • [33] LiDAR-based Terrain Recognition in Off-road Mobile Robot
    Wang, Xinao
    Walters, Joseph G.
    PROCEEDINGS OF THE 33RD INTERNATIONAL TECHNICAL MEETING OF THE SATELLITE DIVISION OF THE INSTITUTE OF NAVIGATION (ION GNSS+ 2020), 2020, : 2590 - 2604
  • [34] MODELING AND CO-SIMULATION OF HYBRID OFF-ROAD MACHINERY
    Goswami, Giota
    Nutakor, Charles
    Sopanen, Jussi
    PROCEEDINGS OF ASME 2023 INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, IDETC-CIE2023, VOL 1, 2023,
  • [35] Dynamic Modeling and Control of Off-Road Truck Using Bondgraphs
    Ashish, Gupta
    Vikas, Rastogi
    PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON SOFT COMPUTING FOR PROBLEM SOLVING (SOCPROS 2011), VOL 2, 2012, 131 : 437 - 450
  • [36] Off-Road Performance Modeling - How to Deal with Segmented Data
    Ilyas, M. Kashif
    Calotoiu, Alexandru
    Wolf, Felix
    EURO-PAR 2017: PARALLEL PROCESSING, 2017, 10417 : 36 - 48
  • [37] Side-slip compensation modeling for off-road vehicles
    Will, JD
    Reid, JF
    Noguchi, N
    INTELLIGENT AUTONOMOUS VEHICLES 2001, 2002, : 351 - 356
  • [38] Off-road air pollution
    不详
    OIL & GAS JOURNAL, 2002, 100 (39) : 17 - 17
  • [39] On/off-road trucking survey
    Pit & Quarry, 2000, 92 (11):
  • [40] An off-road equipment minor
    Purdue University, West Lafayette, IN 47907-2058, United States
    Appl Eng Agric, 2007, 5 (691-694):
12345