NDLI: Investigating motion and trajectory forms of a wheeled mobile robot on a flat surface with an inclination angle

Content Provider	IEEE Xplore Digital Library
Author	Mahmoud, A. Okada, T. Botelho, W.T.
Copyright Year	2009
Description	Author affiliation: Department of Biocybernetics, Niigata University, Japan (Okada, T.) \|\| Graduate School of Niigata University, Japan (Mahmoud, A.; Botelho, W.T.)
Abstract	PEOPLER-II is a hybrid robot with 8-leg ends and 4-wheels attached to a knee joint rim rotating around a hip joint. It has been developed to assist people who needs enhancement for their capability of locomotion. In order to cope with different environments, investigation of the robot trajectory is of significant importance while a frictional condition of the surface influences the form of trajectory. Therefore, this paper extends a C++ object oriented simulator based on mathematical expression for estimating energy cost of motion utilizing the Principle of Virtual Work to the wheeled locomotion mode of the PEOPLER-II. We clarify the robot trajectory form of turning and spinning. Actually, we demonstrate the simulated trajectories on flat surfaces. In addition, we show the effect of the velocity ratio between right and left side wheels on the trajectory forms as well as the inclination angle of the surface.
Starting Page	3418
Ending Page	3422
File Size	1191503
Page Count	5
File Format	PDF
ISBN	9784907764340
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-08-18
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	SICE
Subject Keyword	Mobile robots Wheels Object oriented modeling Friction Rehabilitation robotics Motion estimation Costs Angular velocity Controllability Cybernetics Wheel sliding Wheeled robot Trajectory form Friction coefficient
Content Type	Text
Resource Type	Article

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