Article | Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016 | Static Stability of Double-Spiral Mobile Robot over Rough Terrain Linköping University Electronic Press Conference Proceedings
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Title:
Static Stability of Double-Spiral Mobile Robot over Rough Terrain
Author:
Naohiko Hanajima: College of Design and Manufacturing Technology, Muroran Institute of Technology, Japan Taiki Kaneko: Division of Production Systems Engineering, Muroran Institute of Technology, Japan Hidekazu Kajiwara: College of Information and Systems, Muroran Institute of Technology, Japan Yoshinori Fujihira: College of Design and Manufacturing Technology, Muroran Institute of Technology, Japan
DOI:
10.3384/ecp171421034
Download:
Full text (pdf)
Year:
2018
Conference:
Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016
Issue:
142
Article no.:
152
Pages:
1034-1041
No. of pages:
8
Publication type:
Abstract and Fulltext
Published:
2018-12-19
ISBN:
978-91-7685-399-3
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press, Linköpings universitet


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In this paper, we investigate static stability for a double-spiral mobile robot. It is a new locomotion mechanism suitable for the wetlands that suppresses damage to vegetation and does not sink in the mud. The robot walks on the spirals, which play the role of footholds for the mobile robot. To overcome rough terrain locomotion, we need to ensure the stability of the walking motion on the sloping ground. In this study, we applied normalized energy stability margin (NESM) to the double-spiral mobile robot in order to investigate its static stability over rough terrain. The procedure to derived the NESM value were shown from the point of view of the vector calculation. In the numerical case study, we drew NESM maps to investigate the static stabilities when the inclination of the slope varied or the pose and orientation of the robot changed. We adopted a moment in the swing phase where the stability of the robot’s balance was easily lost. We found that the robot has sensitive directions in terms of stability. Planning the route and motion of the robot in the rough terrain could help maintain its stability.

Keywords: wetland, field survey, mobile robot, slope, balance

Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016

Author:
Naohiko Hanajima, Taiki Kaneko, Hidekazu Kajiwara, Yoshinori Fujihira
Title:
Static Stability of Double-Spiral Mobile Robot over Rough Terrain
DOI:
http://dx.doi.org/10.3384/ecp171421034
References:
No references available

Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016

Author:
Naohiko Hanajima, Taiki Kaneko, Hidekazu Kajiwara, Yoshinori Fujihira
Title:
Static Stability of Double-Spiral Mobile Robot over Rough Terrain
DOI:
https://doi.org10.3384/ecp171421034
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