NDLI: A compliant multi-module robot for climbing big step-like obstacles

Content Provider	IEEE Xplore Digital Library
Author	Avinash, S. Srivastava, A. Purohit, A. Shah, S.V. Krishna, K.M.
Copyright Year	2014
Description	Author affiliation: Robot. Res. Lab., IIIT-Hyderabad, Hyderabad, India (Avinash, S.; Srivastava, A.; Purohit, A.; Shah, S.V.; Krishna, K.M.)
Abstract	A novel compliant robot is proposed for traversing on unstructured terrains. The robot consists of modules, each containing a link and an active wheel-pair, and neighboring modules are connected using a passive joint. This type of robots are lighter and provide high durability due to the absence of link-actuators. However, they have limited climbing ability due to tendency of tipping over while climbing big obstacles. To overcome this disadvantage, the use of compliant joints is proposed in this work. Stiffness of each compliant joint is estimated by formulating an optimization problem with an objective to minimize link joint moments while maintaining static-equilibrium. This is one of the key novelties of the proposed work. A design methodology is also proposed for developing an n-module compliant robot for climbing a given height on a known surface. The efficacy of the proposed formulation is illustrated using numerical simulations of the three and five module robots. The robot is successfully able to climb maximum heights upto three times and six times the wheel diameter using three and five modules, respectively. A working prototype was developed and the simulation results were successfully validated on it.
Starting Page	3397
Ending Page	3402
File Size	2142384
Page Count	6
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907348
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Joints Wheels Equations Optimization Mathematical model
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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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
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