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RISKinematic Geometry of Wheeled Vehicle Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper utilizes a kinematic-geometric approach to study the first-order motion characteristics of wheeled vehicles on even and uneven terrain. The results obtained from first-order studies are ...
Partial Contact Force Controllability in Active Wheeled Vehicles
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a geometric approach for solving the force distribution problem in active wheeled vehicles (AWVs) moving on uneven surfaces. Here an active vehicle is defined as a system ...
A Drift-Free Navigation System for a Mobile Robot Operating on Unstructured Terrain
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The orientation and the angular rates of the body of a robotic vehicle are required for the guidance and control of the vehicle. In the current robotic systems these quantities are obtained ...
A Study of the Solvability of the Position Problem for Multi-Circuit Mechanisms by Way of Example of the Double Butterfly Linkage
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: It is frequently forgotten that the common methods of position analysis of planar linkages, which are based on dyadic decomposition, are not general. This is true regardless of whether a ...
Displacement Analysis of an Actively Articulated Wheeled Vehicle Configuration With Extensions to Motion Planning on Uneven Terrain
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This manuscript presents a displacement analysis of actively articulated wheeled vehicles on uneven terrain. These vehicles are distinct from traditional wheeled systems since they have the ability ...
Graphical Control Interface for Construction and Maintenance Equipment
Publisher: American Society of Civil Engineers
Abstract: This paper discusses graphical interfaces to improve equipment control in construction and facility/infrastructure maintenance environments. Most large construction and maintenance machines are difficult to control because ...
A Procedure to Determine Equilibrium Postural Configurations for Arbitrary Locations of the Feet
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This research was directed toward predicting postural equilibrium configurations in normal humans for asymmetric locations of the feet. The objective of the study was to identify trends in the ...
Globally Optimal Force Allocation in Active Mechanisms With Four Frictional Contacts
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Mechanisms interacting with their environments that possess complete contact force controllability such as multifingered hands and walking vehicles are considered in this article. In these systems, ...
Two Wheels Connected by an Unactuated Variable Length Axle on Uneven Ground: Kinematic Modeling and Experiments
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: It has been shown in previous work that when two wheels independently joined by a fixed-length axle are placed on an uneven surface, such that the line joining the wheel contact points is ...
Multistable Equilibrium System Design Methodology and Demonstration
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Multistable equilibrium (MSE) systems are those which have multiple statically stable equilibrium positions. This paper gives an overview of what MSE systems are, how they can be used, and how ...