NDLI: Terramechanics-based high-fidelity dynamics simulation for wheeled mobile robot on deformable rough terrain

Content Provider	IEEE Xplore Digital Library
Author	Liang Ding Nagatani, K. Sato, K. Mora, A. Yoshida, K. Haibo Gao Zongquan Deng
Copyright Year	2010
Description	Author affiliation: School of Mechatronics Engineering, Harbin Institute of Technology, 150001, Heilongjiang, China (Liang Ding; Haibo Gao; Zongquan Deng) \|\| Department of Aerospace Engineering, Tohoku University, Aoba 6-6-01, Sendai, 980-8579, Japan (Nagatani, K.; Sato, K.; Mora, A.; Yoshida, K.)
Abstract	Numerical simulation analysis of the motion of wheeled mobile robots is significant for both their R&D and control phases, especially due to the recent increase in the number of planetary exploration missions. Using the position/orientation of the rover body and all the joint angles as generalized coordinates, the Jacobian matrices and recursive dynamic models are derived. Terramechanics models for calculating the forces and moments that act on the wheel—as a result of the deformable soil—are introduced in consideration of the effect of normal force. A rough terrain modeling method is developed for estimating the wheel-soil interaction area, wheel sinkage, and the terminal coordinate. A simulation program that includes the above techniques is developed using Matlab and SpaceDyn Toolbox. Experimental results from a 4-wheeled mobile robot moving on Toyoura soft sand are used to verify the fidelity of the simulation. A simulation example of a robot moving on a random rough terrain is also presented.
Starting Page	4922
Ending Page	4927
File Size	1082411
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509217
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Deformable models Mobile robots Mathematical model Numerical simulation Motion analysis Motion control Jacobian matrices Wheels Robot kinematics Orbital robotics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering 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

Isotropy analysis of caster wheeled omnidirectional mobile robot

Kinematics modeling and step climbing study of an all-terrain wheeled mobile robot on uneven terrains

Singularity avoidance for over-actuated, pseudo-omnidirectional, wheeled mobile robots

Variable structure control of nonholonomic wheeled mobile robot

Kinodynamic motion planning for all-terrain wheeled vehicles

A generalized formulation for simulation of space robot constrained motion

Kinematics and dynamics of a hybrid serial-parallel mobile robot

Planning spiral motion of nonholonomic space robots

Inverse kinematics along a geometric spline for a holonomic mobile manipulator

Terramechanics-based high-fidelity dynamics simulation for wheeled mobile robot on deformable rough terrain

Similar Documents

Isotropy analysis of caster wheeled omnidirectional mobile robot

Kinematics modeling and step climbing study of an all-terrain wheeled mobile robot on uneven terrains

Singularity avoidance for over-actuated, pseudo-omnidirectional, wheeled mobile robots

Variable structure control of nonholonomic wheeled mobile robot

Kinodynamic motion planning for all-terrain wheeled vehicles

A generalized formulation for simulation of space robot constrained motion

Kinematics and dynamics of a hybrid serial-parallel mobile robot

Planning spiral motion of nonholonomic space robots

Inverse kinematics along a geometric spline for a holonomic mobile manipulator

Terramechanics-based high-fidelity dynamics simulation for wheeled mobile robot on deformable rough terrain