YaBeSH Engineering and Technology Library

    • Journals
    • PaperQuest
    • YSE Standards
    • YaBeSH
    • Login
    View Item 
    •   YE&T Library
    • ASME
    • Journal of Mechanisms and Robotics
    • View Item
    •   YE&T Library
    • ASME
    • Journal of Mechanisms and Robotics
    • View Item
    • All Fields
    • Source Title
    • Year
    • Publisher
    • Title
    • Subject
    • Author
    • DOI
    • ISBN
    Advanced Search
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Archive

    WheTLHLoc: Small-Scale Hybrid Locomotion Robot With Stair Climbing Capability

    Source: Journal of Mechanisms and Robotics:;2023:;volume( 016 ):;issue: 002::page 21007-1
    Author:
    Bruzzone, Luca
    ,
    Nodehi, Shahab Edin
    ,
    De Domenico, Dario
    ,
    Fanghella, Pietro
    DOI: 10.1115/1.4056770
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This paper discusses the theoretical analysis and the experimental validation of the step and stair climbing capability of wheel-track-leg hybrid locomotion (WheTLHLoc), a small-scale hybrid locomotion robot with overall size of 450 × 350 × 130 mm and maximum payload of 0.5 kg. The architecture of this robot combines two tracks, two rotating legs, two actuated wheels, and two passive omni wheels. The robot is capable of performing different locomotion modes: wheeled locomotion on flat and compact grounds with maximum speed of 0.9 m/s, tracked locomotion on soft and yielding terrains with maximum speed of 0.1 m/s, mixed use of tracks, legs, and wheels to overcome obstacles. In particular, the process of step and stair climbing is analyzed considering static stability and non-slipping conditions. The experimental campaign on the first prototype has confirmed the effectiveness of the proposed climbing maneuver for steps up to 165 mm and the operative flexibility of the WheTLHLoc robot.
    • Download: (2.302Mb)
    • Show Full MetaData Hide Full MetaData
    • Get RIS
    • Item Order
    • Go To Publisher
    • Price: 5000 Rial
    • Statistics

      WheTLHLoc: Small-Scale Hybrid Locomotion Robot With Stair Climbing Capability

    URI
    http://yetl.yabesh.ir/yetl1/handle/yetl/4292217
    Collections
    • Journal of Mechanisms and Robotics

    Show full item record

    contributor authorBruzzone, Luca
    contributor authorNodehi, Shahab Edin
    contributor authorDe Domenico, Dario
    contributor authorFanghella, Pietro
    date accessioned2023-08-16T18:36:53Z
    date available2023-08-16T18:36:53Z
    date copyright3/3/2023 12:00:00 AM
    date issued2023
    identifier issn1942-4302
    identifier otherjmr_16_2_021007.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4292217
    description abstractThis paper discusses the theoretical analysis and the experimental validation of the step and stair climbing capability of wheel-track-leg hybrid locomotion (WheTLHLoc), a small-scale hybrid locomotion robot with overall size of 450 × 350 × 130 mm and maximum payload of 0.5 kg. The architecture of this robot combines two tracks, two rotating legs, two actuated wheels, and two passive omni wheels. The robot is capable of performing different locomotion modes: wheeled locomotion on flat and compact grounds with maximum speed of 0.9 m/s, tracked locomotion on soft and yielding terrains with maximum speed of 0.1 m/s, mixed use of tracks, legs, and wheels to overcome obstacles. In particular, the process of step and stair climbing is analyzed considering static stability and non-slipping conditions. The experimental campaign on the first prototype has confirmed the effectiveness of the proposed climbing maneuver for steps up to 165 mm and the operative flexibility of the WheTLHLoc robot.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleWheTLHLoc: Small-Scale Hybrid Locomotion Robot With Stair Climbing Capability
    typeJournal Paper
    journal volume16
    journal issue2
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4056770
    journal fristpage21007-1
    journal lastpage21007-17
    page17
    treeJournal of Mechanisms and Robotics:;2023:;volume( 016 ):;issue: 002
    contenttypeFulltext
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian
     
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian