Definition and application of variable resistance coefficient for wheeled mobile robots on deformable terrain
Resistance coefficient (RC) is an important measure when designing wheel-driving
mechanisms and accurate dynamic models for real-time mobility control of wheeled mobile …
mechanisms and accurate dynamic models for real-time mobility control of wheeled mobile …
High-fidelity dynamic modeling and simulation of planetary rovers using single-input-multi-output joints with terrain property map**
Planetary rovers may traverse terrains with complex geometries and variable physical
properties, but their mobility behaviors are complicated and difficult to simulate precisely …
properties, but their mobility behaviors are complicated and difficult to simulate precisely …
Fast approximate clearance evaluation for rovers with articulated suspension systems
We present a light‐weight body‐terrain clearance evaluation algorithm for the automated
path planning of NASA's Mars 2020 rover. Extraterrestrial path planning is challenging due …
path planning of NASA's Mars 2020 rover. Extraterrestrial path planning is challenging due …
A differentiable dynamic modeling approach to integrated motion planning and actuator physical design for mobile manipulators
This paper investigates the differentiable dynamic modeling of mobile manipulators to
facilitate efficient motion planning and physical design of actuators, where the actuator …
facilitate efficient motion planning and physical design of actuators, where the actuator …
Derivation of motion equation for mobile manipulator with viscoelastic links and revolute–prismatic flexible joints via recursive Gibbs–Appell formulations
This paper investigates the dynamic equations of an N-flexible link manipulator with revolute–
prismatic joints while considering the effects of manipulator locomotion by the mobile …
prismatic joints while considering the effects of manipulator locomotion by the mobile …
Design and analysis of a passive adaptive wall-climbing robot based on five-bar mechanisms
Z Jiang, Z Zhao, B Chen, Y Li, Y Zhao, Y Xu - Ocean Engineering, 2024 - Elsevier
Due to the inspection demand of curved permeable metal walls, such as large ships, a wall-
climbing robot that can adapt to various curvatures of metal walls is built to solve the …
climbing robot that can adapt to various curvatures of metal walls is built to solve the …
DRIVE: Data-driven Robot Input Vector Exploration
An accurate motion model is a fundamental component of most autonomous navigation
systems. While much work has been done on improving model formulation, no standard …
systems. While much work has been done on improving model formulation, no standard …
An innovative joint-space dynamic theory for rigid multi-axis system-Part Ⅰ: Fundamental principles
Y Yang, H Ju, K Wang - Applied Mathematical Modelling, 2022 - Elsevier
This study, being divided into two parts, proposes an innovative joint-space dynamics theory
for rigid multi-axis system. This paper, being the first part, demonstrates the fundamental …
for rigid multi-axis system. This paper, being the first part, demonstrates the fundamental …
Slippage-dependent teleoperation of wheeled mobile robots on soft terrains
The slippage appears on soft terrains for wheeled mobile robots (WMR), and generates a
motion deviation at the contact area, which can induce poor command-tracking performance …
motion deviation at the contact area, which can induce poor command-tracking performance …
Analysis of Tread ICRs for Wheeled Skid-Steer Vehicles on Inclined Terrain
The instantaneous centers of rotation (ICRs) for the two treads of skid-steer vehicles moving
with low inertia on hard horizontal terrain almost remain with constant local coordinates …
with low inertia on hard horizontal terrain almost remain with constant local coordinates …