Article | The First Japanese Modelica Conferences, May 23-24, Tokyo, Japan | Modeling and simulation for leg-wheel mobile robots using Modelica
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Title:
Modeling and simulation for leg-wheel mobile robots using Modelica
Author:
Hiroki Yoshikawa: Tokyo City University, Japan Takatsugu Oda: Tokyo City University, Japan Kenichiro Nonaka: Tokyo City University, Japan Kazuma Sekiguchi: Tokyo City University, Japan
DOI:
10.3384/ecp1612455
Download:
Full text (pdf)
Year:
2016
Conference:
The First Japanese Modelica Conferences, May 23-24, Tokyo, Japan
Issue:
124
Article no.:
008
Pages:
55-60
No. of pages:
6
Publication type:
Abstract and Fulltext
Published:
2016-05-18
ISBN:
978-91-7685-749-6
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press, Linköpings universitet


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Modeling of complex robots which consist of mechanical and electric elements has attracted a lot of attention to be utilized for analysis, simulation and development. In this paper, we model the space exploration robot which has leg-wheel mechanisms using Modelica, which is an equation based language and convenient to cope with a complex physical system. In addition, to evaluate the performance of planetary exploration robots, we conduct simulations considering the space environment using the fundamental control system and the robot model. The simulation results indicate that considering load shift due to centrifugal force is important under low gravitational acceleration.

Keywords: leg-wheel mobile robots, modeling,space robots, control system

The First Japanese Modelica Conferences, May 23-24, Tokyo, Japan

Author:
Hiroki Yoshikawa, Takatsugu Oda, Kenichiro Nonaka, Kazuma Sekiguchi
Title:
Modeling and simulation for leg-wheel mobile robots using Modelica
DOI:
http://dx.doi.org/10.3384/ecp1612455
References:

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Martin Otter, Nguyen Thuy, Daniel Bouskela, Lena Buffoni, Hilding Elmqvist, Peter Fritzson, Alfredo Garro, Audrey Jardin, Hans Olsson, Maxime Payelleville, Wladimir Schamai, Eric Thomas, and Andrea Tundis. Formal requirements modeling for simulation-based verification. In 11th International Modelica Conference, pages 625‚Äď635, 2015.


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Shuan-YuShen, Cheng-Hsin Li, Chih-Chungcheng, Jau-Ching Lu, Shao-Fan Wang, and Pei-Chun Lin. Design of
a leg-wheel hybrid mobile platform. In IEEE/RSJ International Conferenceon Intelligent Robotsand Systems, pages 4682‚Äď4687, 2009.


Brian H. Wilcox, Todd Litwin, Jeff Biesiadecki, Jaret Matthews, Matt Heverly, Jack Morrison, Julie Townsend, Norman Ahmad, Allen Sirota, and Brian Cooper. ATHLETE: A cargo handling and manipulation robot for the moon. Journal of Field Robotics, 27(5): 421‚Äď434, 2007.

The First Japanese Modelica Conferences, May 23-24, Tokyo, Japan

Author:
Hiroki Yoshikawa, Takatsugu Oda, Kenichiro Nonaka, Kazuma Sekiguchi
Title:
Modeling and simulation for leg-wheel mobile robots using Modelica
DOI:
http://dx.doi.org/10.3384/ecp1612455
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