Design and analysis of a hybrid mobile robot mechanism with compounded locomotion and manipulation capability

Journal of Mechanical Design

Volumn 130, Issue 7, 2008, Pages 0723021-07230213

  Ben Tzvi, Pinhas ^a   Goldenberg, Andrew A ^a   Zu, Jean W ^a  

^a UNIVERSITY OF TORONTO   (Canada)

Author keywords

Compounded locomotion and manipulation; Dynamic simulations; Hybrid mechanism; Mobile robot; Virtual prototype

Indexed keywords

END EFFECTORS; MACHINE DESIGN; MANIPULATORS; ROBOTIC ARMS; VIRTUAL PROTOTYPING;

COMPOUNDED LOCOMOTION AND MANIPULATION; DESIGN AND ANALYSIS; DESIGN PARADIGM; DYNAMICS SIMULATION; HYBRID MECHANISMS; MANIPULATOR ARMS; MECHANICAL DESIGN; MOBILE ROBOT MECHANISM; NOVEL DESIGN; VIRTUAL PROTOTYPE;

MOBILE ROBOTS;

EID: 77952161099     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2918920     Document Type: Article

References (53)

1. Yamauchi, B., 2004, "PackBot: A Versatile Platform for Military Robotics", Proc. SPIE, 5422, pp. 228-237.
2. Frost, T., Norman, C., Pratt, S., and Yamauchi, B., 2002, "Derived Performance Metrics and Measurements Compared to Field Experience for the Pack-Bot", in Proceedings of the 2002 PerMIS Workshop, Gaithersburg, MD.
3. Lewis, P. J., Flann, N., Torrie, M. R., Poulson, E. A., Petroff, T., and Witus, G., 2005, "Chaos: An Intelligent Ultra-Mobile SUGV: Combining the Mobility of Wheels, Tracks, and Legs", Proc. SPIE, 5804, pp. 427-438.
4. Carlson, J., and Murphy, R. R., 2005, "How UGVs Physically Fail in the Field", Trans. Rob. Autom., 21(3), pp. 423-437.
5. Murphy, R. R., 2004, "Activities of the Rescue Robots at the World Trade Center From 11-21 September 2001", Rob. Autom. Mag., 11(3), pp. 50-61.
6. White, J. R., Sunagawa, T., and Nakajima, T., 1989, "Hazardous-Duty Robots-Experiences and Needs", Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems '89 (IROS '89), pp. 262-267.
7. White, J. R., Coughlan, J., Harvey, M., Upton, R., and Waer, K., 1989, "Taking Andros for a Walk", Nucl. Eng. Int., 34(415), pp. 52-53.
8. Martens, J. D., and Newman, W. S., 1994, "Stabilization of a Mobile Robot Climbing Stairs", in Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, Vol. 3, pp. 2501-2507.
9. Goldenberg, A. A., and Lin, J., 2005, "Variable Configuration Articulated Tracked Vehicle", U. S. Patent No. 11/196, 486.
10. TALON Mobile Robot, Foster-Miller. Available: http://www.foster-miller. com/lemming.htm.
11. Gladiator Mobile Robot, Robotics institute, available: http://www.ri.cmu.edu.
12. Sandia National Laboratories, available: http://www.sandia.gov.
13. MR-7 Tracked Mobile Robot, available: www.esit.com.
14. Bares, J., and Stager, D., 2004, "Expanded Field Testing Results From Spinner: A High Mobility Hybrid UGCV", Proceedings of the AUVSI Unmanned Systems 2004 Conference, Anaheim, CA.
15. Drenner, A., Burt, I., Dahlin, T., Kratochvil, B., McMillen, C. P., Nelson, B., Papanikolopoulos, N., Rybski, P. E., Stubbs, K., Waletzko, D., and Yesin, K. B., 2002, "Mobility Enhancements to the Scout Robot Platform", Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington, DC, pp. 1069-1074.
16. Drenner, A., Burt, I., Kratochvil, B., Nelson, B., Papanikolopoulos, N., and Yesin, K. B., 2002, "Communication and Mobility Enhancements to the Scout Robot", Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland.
17. Russel, S., 2006, "DARPA Grand Challenge Winner", Popular Mechanics.
18. Behar, A., Matthews, J., Carsey, F., and Jones, J., 2004, "NASA/JPL Tumbleweed Polar Rover", Proceedings of the 2004 IEEE Aerospace Conference, Vol. 1, pp. 388-395.
19. Cleary, M. E., and Abramson, M., 2001, "Intelligent Autonomy for Small Throwable Land Robots", Proc. SPIE, 4232, pp. 421-427.
20. Caprari, G., Arras, K. O., and Siegwart, R., 2000, "The Autonomous Miniature Robot Alice: From Prototypes to Applications", Proceedings of 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 793-798.
21. Brown, H. B., Jr., Weghe, J. M. V., Bererton, C. A., and Khosla, P. K., 2002, "Millibot Trains for Enhanced Mobility", IEEE/ASME Trans. Mechatron., 7(4), pp. 452-461.
22. Clark, J. E., Cham, J. G., Bailey, S. A., Froehlich, E. M., Nahata, P. K., Full, R. J., and Cutkosky, M. R., 2001, "Biomimetic Design and Fabrication of a Hexapedal Running Robot", in Proceedings of 2001 IEEE International Conference on Robotics and Automation, Vol. 4, pp. 3643-3649.
23. Darper Laboratory, available: http://www.draper.com/.
24. Buehler, M., Playter, R., and Raibert, M., 2005, "Robots Step Outside", International Symposium on Adaptive Motion of Animals and Machines (AMAM), Ilmenau, Germany.
25. Klaassen, B., Linnemann, R., Spenneberg, D., and Kirchner, F., 2002, "Biomimetic Walking Robot SCORPION: Control and Modelling", Rob. Auton. Syst., 41 (2-3), pp. 69-76.
26. Endo, G., and Hirose, S., 1999, "Study on Roller-Walker (Basic Experiments on Self-Contained Vehicle System)", Proceedings of COE Workshop ' 99, pp. 153-160.
27. Retarius Wheel-Legged Mobile Robot, Lockheed Martin, available: http://www.lockheedmartin.com/.
28. Wilcox, B. H., Litwin, T., Biesiadecki, J., Matthews, J., Heverly, M., Morrison, J., Townsend, J., Ahmed, N., Sirota, A., and Cooper, B., 2007, "ATHLETE: A Cargo Handling and Manipulation Robot for the Moon", J. Field Rob., 24(5), pp. 421-434.
29. Lauria, M., Piguet, Y., and Siegwart, R., 2002, "Octopus-An Autonomous Wheeled Climbing Robot", in Proceedings of the Fifth International Conference on Climbing and Walking Robots, Professional Engineering Publishing Limited, Bury, UK.
30. Estier, T., Merminod, Y. C., Lauria, M., Piget, R., and Siegwart, R., 2000, "An Innovative Space Rover With Extended Climbing Abilities", in Proceedings of Space and Robotics, Albuquerque.
31. Saranli, U., Buehler, M., and Koditschek, D. E., 2001, "RHex: A Simple and Highly Mobile Hexapod Robot", Int. J. Robot. Res., 20(7), pp. 616-631.
32. Morrey, J. M., Lambrecht, B., Horchler, A. D., Ritzmann, R. E., and Quinn, R. D., 2003, "Highly Mobile and Robust Small Quadruped Robots", Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 82-87.
33. Larsen, R., and Kerrebrock, P., 2003, "A High-Mobility Tactical Micro-Robot (HMTM) System", nmanned Systems Conference, Baltimore, MD.
34. Kennedy, B., Agazarian, H., Cheng, Y., Garrett, M., Hickey, G., Huntsberger, T., Magnone, L., Mahoney, C., Meyer, A., and Knight, J., 2001, "LEMUR: Legged Excursion Mechanical Utility Rover", Auton. Rob., 11(11), pp. 201-205.
35. Autumn, K., Buehler, M., Cutkosky, M., Fearing, R., Full, R. J., Goldman, D., Groff, R., Provancher, W., Rizzi, A. A., Saranli, U., Saunders, A., and Koditschek, D. E., 2005, "Robotics in Scansorial Environments", Proc. SPIE, 5804(1), pp. 291-302.
36. Clarifying Climber Robot, Clarifying Technologies, available: http://www.clarifyingtech.com/.
37. Sitti, M., and Fearing, R. S., 2003, "Synthetic Gecko Foot-Hair Micro/Nanostructures as Dry Adhesives", Adhes. Sci. Technol., 17(8), pp. 1055-1073.
38. Frog Hopping Robot, Jet Propulsion Laboratory, available: http://www.jpl.nasa.gov/index.cfm.
39. Fiorini, P., Hayati, S., Heverly, M., and Gensler, J., 1999, "A Hopping Robot for Planetary Exploration", Proceedings of the 2004 IEEE Aerospace Conference, Snowmass at Aspen, CO, Vol. 2, pp. 153-158.
40. Costo, S., and Molfino, R., 2004, "A New Robotic Unit for Onboard Airplanes Bomb Disposal", 35th International Symposium on Robotics ISR 2004, Paris, pp. 23-26.
41. Michaud, F., Létourneau, D., Arsenault, M., Bergeron, Y., Cadrin, R., Gagnon, F., Legault, M. A., Millette, M., Paré, J. F., Tremblay, M. C., Lepage, P., Morin, Y., Bisson, J., and Caron, S., 2005, "Multi-Modal Locomotion Roéotic Platform Using Leg-Track-Wheel Articulations", Auton. Rob., 18(2), pp. 137-156.
42. Munkeby, S., Jones, D., Bugg, G., and Smith, K., 2002, "Applications for the MATILDA Robotic Platform", Proc. SPIE, 4715, pp. 206-213.
43. HDE Manufacturing, Inc., 2006, "MURV-100: The EOD, SWAT, and WMD Robot System", available online: http://www.hdemfg.com.
44. Hirose, S., Fukushima, E. F., Damoto, R., and Nakamoto, H., 2001, "Design of Terrain Adaptive Versatile Crawler Vehicle HELIOS-VI", Proceeding of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, Vol. 3, pp. 1540-1545.
45. Hirose, S., Sensu, T., and Aoki, S., 1992, "The TAQT Carrier: A Pratical Terrain-Adaptive Quadru-Track Carrier Robot", Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, pp. 2068-2073.
46. Hirose, S., Aoki, S., and Miyake, J., 1990, "Design and Control of Quadru-Truck Crawler Vehicle HELIOS-II", Proceedings of the Eight RoManSy Symposium, Cracow, Poland, pp. 1-10.
47. Guarnieri, M., Debenest, P., Inoh, T., Fukushima, E., and Hirose, S., 2005, "Helios VII: A New Vehicle for Disaster Response, Mechanical Design and Basic Experiments", Adv. Rob., 19(8), pp. 901-927.
48. Iwamoto, T., and Yamamoto, H., 1990, "Mechanical Design of Variable Configuration Tracked Vehicle", Mech. Des., 112, pp. 289-294.
49. Purvis, J. W., and Klarer, P. R., 1992, "RATLER: Robotic All Terrain Lunar Exploration Rover", in Proceedings of Sixth Annual Space Operations, Applications and Research Symposium, Johnson Space Center, Houston, TX, pp. 174-179.
50. Blackburn, M. R., Bailey, R., and Lytle, B., 2004, "Improved Mobility in a Multi-degree-of-Freedom Unmanned Ground Vehicle (UGV)", Proc. SPIE, 5422, pp, 124-134.
51. Full, R. J., and Koditschek, D. E., 1999, "Neuromechanical Hypotheses of Legged Locomotion on Land" J. Exp. Biol., 202, pp. 3325-3332.
52. Malik, S. M., Lin, J., and Goldenberg, A. A., 2006, "Virtual Prototyping for Conceptual Design of a Tracked Mobile Robot", 2006 Canadian Conference on Electrical and Computer Engineering, Ottawa, ON, Canada, pp. 2349-2352.
53. Malik, S. M., 2006, "Virtual Prototyping for Conceptual Design of Tracked Mobile Robots", U. S. thesis, Department of Mechanical and Industrial Engineering, University of Toronto, ON, Canada.