NDLI: Flexible suspension mechanism for stable driving of a differential drive mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Se-gon Roh Bokman Lim Hyunpil Moon Jung-Sub Lee Jae Hoon Park Ja Choon Koo Hyouk Ryeol Choi
Copyright Year	2013
Description	Author affiliation: Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon, South Korea (Se-gon Roh; Hyunpil Moon; Jung-Sub Lee; Jae Hoon Park; Ja Choon Koo; Hyouk Ryeol Choi) \|\| Samsung Adv. Inst. of Technol., Samsung Electron. Co., Ltd., Hwasung, South Korea (Bokman Lim)
Abstract	The differential drive mechanism, which is one of the mechanisms of wheeled mobile robots, is simple and useful for the motion of the mobile robot. The mechanism, however, has typical disadvantages of losing mobility, falling down, etc. when the robot moves over obstacles or uneven terrains. A novel suspension mechanism presented in this paper was designed to help the robot to overcome these problems. In particular, this mechanism is very suitable for a tall robot, which is susceptible to overturning because of the disturbance caused by acceleration, deceleration, and collision. The proposed mechanism called a Multilayered Suspension Mechanism is composed of the effective and well-directed combination of springs and dampers. It is very simple and cost-effective since it has no actuator for suspension. In this paper, mechanical construction and characteristics of the mechanism are described. Then, excellence and performance of the proposed mechanism are demonstrated by simulations and experiments.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	5518
Ending Page	5523
File Size	851899
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6697156
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Springs Shock absorbers Mobile robots Damping Robot sensing systems
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Exact range and bearing control of many differential-drive robots with uniform control inputs

Cooperative sensing and recognition by a swarm of mobile robots

A methodology for testing mobile autonomous robots

High-level control of modular robots

Multi-robot coordination methodology in congested systems with bottlenecks

ScarlETH: Design and control of a planar running robot

Erect wheel-legged stair climbing robot for indoor service applications

Simultaneous calibration, localization, and mapping

Nonlinear control of unicycle-like robots for person following

Flexible suspension mechanism for stable driving of a differential drive mobile robot

Similar Documents

Exact range and bearing control of many differential-drive robots with uniform control inputs

Cooperative sensing and recognition by a swarm of mobile robots

A methodology for testing mobile autonomous robots

High-level control of modular robots

Multi-robot coordination methodology in congested systems with bottlenecks

ScarlETH: Design and control of a planar running robot

Erect wheel-legged stair climbing robot for indoor service applications

Simultaneous calibration, localization, and mapping

Nonlinear control of unicycle-like robots for person following

Flexible suspension mechanism for stable driving of a differential drive mobile robot