Novel Angled Spoke-Based Mobile Robot Design for Agile Locomotion With Obstacle-Overcoming Capability
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Youngjoo | - |
dc.contributor.author | Yoon, Dupyo | - |
dc.contributor.author | Oh, Joohyun | - |
dc.contributor.author | Kim, Hwa Soo | - |
dc.contributor.author | Seo, Taewon | - |
dc.date.accessioned | 2021-08-02T08:53:16Z | - |
dc.date.available | 2021-08-02T08:53:16Z | - |
dc.date.created | 2021-05-12 | - |
dc.date.issued | 2020-08 | - |
dc.identifier.issn | 1083-4435 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/9023 | - |
dc.description.abstract | This article introduces a new mobile robot with angled spoke-based wheels (ASWs). An ASW is designed by analyzing the combination of the assembling angle with the spokes and the assembling angle with the wheel shaft. It has a specific trajectory in which the spokes are perpendicular to and parallel to the ground simultaneously. Therefore, this wheel is in contact with the ground similar to a conventional wheel, but the wheel trajectory does not exceed the height of the spoke length. Therefore, the robot offers an advantage in that various devices can be freely installed on its upper part. Owing to the geometrical features of the wheel, the wheel shaft is assembled at an angle of 45 degrees on the chassis, and 90 degrees-bevel gears are used to maximize space efficiency. The robot is 85-mm long and weighs 208 g. Using the proposed spoke wheel, the robot can travel on carpet at a sustained speed of 18 body-lengths per second. With regard to overcoming obstacles, the robot can overcome a height of 0.7 times the spoke length. Moreover, it can climb continuous obstacles having a staircase angle of 37.5 degrees and overcome an irregular shape and an arbitrarily formed height of obstacles like a tangled rope. It was also confirmed that the robot could carry the same weight as its own without any significant drop in speed. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Novel Angled Spoke-Based Mobile Robot Design for Agile Locomotion With Obstacle-Overcoming Capability | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Seo, Taewon | - |
dc.identifier.doi | 10.1109/TMECH.2020.2992302 | - |
dc.identifier.scopusid | 2-s2.0-85089967288 | - |
dc.identifier.wosid | 000560671600032 | - |
dc.identifier.bibliographicCitation | IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.25, no.4, pp.1980 - 1989 | - |
dc.relation.isPartOf | IEEE-ASME TRANSACTIONS ON MECHATRONICS | - |
dc.citation.title | IEEE-ASME TRANSACTIONS ON MECHATRONICS | - |
dc.citation.volume | 25 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 1980 | - |
dc.citation.endPage | 1989 | - |
dc.type.rims | ART | - |
dc.type.docType | Article; Proceedings Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Engineering, Manufacturing | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordPlus | CLIMBING ROBOT | - |
dc.subject.keywordPlus | OPTIMIZATION | - |
dc.subject.keywordPlus | TRANSITION | - |
dc.subject.keywordAuthor | Wheels | - |
dc.subject.keywordAuthor | Shape | - |
dc.subject.keywordAuthor | Legged locomotion | - |
dc.subject.keywordAuthor | Trajectory | - |
dc.subject.keywordAuthor | Shafts | - |
dc.subject.keywordAuthor | Angled spoke-based wheel | - |
dc.subject.keywordAuthor | bevel gear | - |
dc.subject.keywordAuthor | continuous obstacle | - |
dc.subject.keywordAuthor | obstacle overcoming | - |
dc.subject.keywordAuthor | tilted driving shaft | - |
dc.subject.keywordAuthor | wheel posture | - |
dc.subject.keywordAuthor | wheel trajectory | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/9086059 | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, Korea+82-2-2220-1365
COPYRIGHT © 2021 HANYANG UNIVERSITY.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.