Hostname: page-component-cd9895bd7-jn8rn Total loading time: 0 Render date: 2024-12-26T22:15:58.388Z Has data issue: false hasContentIssue false
  • English
  • Français

Design and locomotion analysis of a novel deformable mobile robot with worm-like, self-crossing and rolling motion

Published online by Cambridge University Press:  04 December 2014

Yaobin Tian ,
Yan-An Yao ,
Wan Ding  and
Zhiyuan Xun
Yaobin Tian
Affiliation:
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, P. R. China
Yan-An Yao*
Affiliation:
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, P. R. China
Wan Ding
Affiliation:
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, P. R. China
Zhiyuan Xun
Affiliation:
School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, P. R. China
*
*Corresponding author. E-mail: yayao@center.njtu.edu.cn
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a novel deformable mobile robot with five degrees of freedom (DOFs). The robot contains two equivalent expandable triangular platforms connected by three equivalent chains. Each platform is a regular triangle with a single DOF. Each chain consists of two links and three joints (one spherical joint at the middle of a chain, and one revolute joint at each end of the chain). Through kinematic and locomotion mode analysis, the robot exhibits three motion modes: worm-like, self-crossing, and rolling modes. The worm-like and self-crossing modes can be used for narrow passages (e.g., pipelines, holes, and caves). The rolling mode has three different directions at the initial state. By switching between these, the robot can operate on rough ground. To verify the locomotion modes and functionality of the robot, the results of a series of experiments performed on a manufactured prototype are reported.

Keywords

Mobile robotMotion planningLocomotion modeExpandable mechanismParallel robot
Type
Articles
Information
Robotica , Volume 34 , Issue 9 , September 2016 , pp. 1961 - 1978
Copyright
Copyright © Cambridge University Press 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Bruzzone, L. and Quaglia, G., “Review article: Locomotion systems for ground mobile robots in unstructured environments,” Mech. Sci. 3 (2), 49–62 (2012).CrossRefGoogle Scholar
2. Raibert, M. H., “Legged robots,” Commun. ACM. 29 (6), 499–514 (1986).Google Scholar
3. Machado, J. A. T. and Silva, M. F., “An Overview of Legged Robots,” Proceedings of the MME International Symposium on Mathematical Methods in Engineering, (2006).Google Scholar
4. Liljebäck, P., Pettersen, K. Y., Stavdahl, O. and Gravdahl, J. T., “A review on modelling, implementation, and control of snake robots,” Robot. Auton. Syst. 60 (1), 29–40 (2012).Google Scholar
5. Ylikorpi, T. and Suomela, J., “Ball shaped robots: An historical overview and recent development at TKK,” Field Serv. Rob. 25 (6), 343–354 (2006).Google Scholar
6. Guccioneand, S. and Muscato, G., “The wheeleg robot,” IEEE Robot. & Autom. Mag. 10 (4), 33–43 (2003).Google Scholar
7. Lu, D. P., Dong, E. B., Liu, C. S., Wang, Z. R., Zhang, X. G., Xu, M. and Yang, J., “Mechanical System and Stable Gait Transformation of a Leg-Wheel Hybrid Transformable Robot,” Proceeding of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Wollongong, NSW, (Jul. 9–12, 2013) pp. 530–535.Google Scholar
8. Hirose, S. and Takeuchi, H., “Study on Roller-Walker (Basic Characteristics and Its Control),” Proceeding of IEEE International Conference on Robotics and Automation, MN. USA, (Apr. 22–28 1996) pp. 3265–3270.Google Scholar
9. Smith, J. A., Sharf, I. and Trentini, M., “PAW: A Hybrid Wheeled-Leg Robot,” Proceeding of IEEE International Conference on Robotics and Automation, Orlando, USA, (May 15–19, 2006) pp. 4043–4048.CrossRefGoogle Scholar
10. Yokota, S., Kawabata, K. and Kobayashi, H., “Development of mobile system using leg-type crawler for rough terrain,” Ind. Robot: an Int. J. 31 (2), 218–223 (2004).Google Scholar
11. Michaud, F., Létourneau, D., Arsenault, M., Bergeron, Y., Cadrin, R., Gagnon, F., Legault, M.-A., Millette, M., Paré, J.-F., Tremblay, M.-C., Lepage, P., Morin, Y., Bisson, J. and Caron, S., “AZIMUT, a Leg-Rrack-Wheeled Robot,” Proceeding of IEEE/RSJ International Conference on Intelligent Robots and Systems, L.V. USA, (Oct. 27–31, 2003) pp. 2553–2558.Google Scholar
12. Sugiyama, Y. and Hirai, S., “Crawling and jumping by a deformable robot,” Int. J. Robot. Res. 25 (5–6), 603–620 (2004).Google Scholar
13. Calladine, C. R., “Buckminster fuller's ‘Tensegrity’ structures and clerk maxwell's rules for the construction of stiff frames,” Int. J. Solids Struct. 14, 161–172 (1978).Google Scholar
14. Paul, C., Valero-Cuevas, F. J. and Lipson, H., “Design and control of tensegrity robots for locomotion,” IEEE Trans. Robot. 22 (5), 944–957 (2006).Google Scholar
15. Shibata, M., Saijyo, F. and Hirai, S., “Crawling by Body Deformation of Tensegrity Structure Robots,” Proceeding of IEEE International Conference on Robotics and Automation, Kobe, Japan, (May. 12–17, 2009) pp. 4375–4380.Google Scholar
16. Iscen, A., Agogino, A., SunSpiral, V. and Tumer, K., “Controlling Tensegrity Robots through Evolution,” Proceedings of the 15th Annual Conference on Genetic and Evolutionary Computation, New York, USA, (Jul. 6–10, 2013), pp. 1293–1300.Google Scholar
17. Mirletz, B., Park, I. W., Flemons, T. E., Agogino, A. K., Quinn, R. D. and Sun Spiral, V., “Design and Control of Modular Spine-like Tensegrity Structures,” The 6th World Conference of the International Association for Structural Control and Monitoring, Barcelona, Spain, (Jul. 15–17, 2014).Google Scholar
18. Yim, M., Duff, D. G. and Roufas, K. D., “PolyBot: A Modular Reconfigurable Robot,” Proceeding of IEEE International Conference on Robotics and Automation, San Francisco, USA (Apr. 24–28, 2000) pp. 514–520.Google Scholar
19. Clark, P. E., Rilee, M. L., Curtis, S. A., Truszkowski, W., Marr, G., Cheung, C. and Rudisill, M., “BEES for ANTS: Space Mission Applications for the Autonomous Nanotechnology Swarm,” Proceeding of AIAA First Intelligent Systems Technical Conference, Chicago, USA (Sep. 20–22, 2004).Google Scholar
20. Chen, S. C., Huang, K. J., Chen, W. H., Shen, S.Y., Li, C. H. and Lin, P. C., “Quattroped: A leg–wheel transformable robot,” IEEE/ASME Trans. Mechatronics 19 (2), 1–10 (2013).Google Scholar
21. Phipps, C. C. and Minor, M. A., “Introducing the Hex-a-Ball, a Hybrid Locomotion Terrain Adaptive Walking and Rolling Robot,” Proceeding of 8th International Conference on Climbing and Walking Robots, London, U.K., (Sep. 13–15, 2005) pp. 525–532.CrossRefGoogle Scholar
22. Ota, Y., Inagaki, Y., Yoneda, K. and Hirose, S., “Research on a Six-Legged Walking Robot with Parallel Mechanism,” Proceeding of IEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, B.C., Canada (Oct. 13–17, 1998) pp. 241–248.Google Scholar
23. Yoneda, K., Ito, F., Ota, Y. and Hirose, S., “Steep Slope Locomotion and Manipulation Mechanism with Minimum Degrees of Freedom,” Proceeding of IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyongju, Korea (Oct. 17–21, 1999) pp. 1897–1901.Google Scholar
24. Ota, Y., Yoneda, K., Ito, F., Hirose, S. and Inagaki, Y., “Design and control of 6-DOF mechanism for twin-frame mobile robot,” Auton. Robot. 10 (3), 297–316 (2001).Google Scholar
25. Liu, C. and Yao, Y. A., “Biped RCCR mechanism,” ASME, J. Mech. Des. 131 (3), 031010 (2009).Google Scholar
26. Liu, C., Yang, H. H. and Yao, Y. A., “A family of biped mechanisms with two revolute and two cylindric joints,” ASME, J. Mech. Robot. 4 (4), 045002 (2012).CrossRefGoogle Scholar
27. Sugahara, Y., Endo, T., Lim, H. and Takanishi, A., “Design of a Battery-Powered Multi-Purpose Bipedal Locomotor with Parallel Mechanism,” Proceeding of IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, (Sep. 30-Oct. 4, 2002) pp. 2658–2663.Google Scholar
28. Sugahara, Y., Endo, T., Limand, H. and Takanishi, A., “Control and Experiments of a Multi-Purpose Bipedal Locomotor with Parallel Mechanism,” Proceeding of IEEE International Conference on Robotics and Automation, Taipei, China, (Sep. 14–19, 2003) pp. 4342–4347.Google Scholar
29. Liu, C. H., Li, R. M. and Yao, Y. A., “An omnidirectional rolling 8U parallel mechanism,” ASME J. Mech. Robot. 4 (3), 034501 (2012).Google Scholar
30. Tian, Y. B. and Yao, Y. A., “Dynamic rolling analysis of triangular-bipyramid robot,” Robotica, available on CJO2014. doi: 10.1017/S0263574714000666. (2014).CrossRefGoogle Scholar
31. Aracil, R., Saltaren, R. and Sabater, J. M., “TREPA: Parallel Climbing Robot for Maintenance of Palm Trees and Large Structures,” Proceeding of 2th International Conference on Climbing and Walking Robot, London, UK (Sep. 14–15, 1999) pp. 453–461.Google Scholar
32. Aracil, R., Saltarén, R. and Reinoso, O., “Parallel robots for autonomous climbing along tubular structures,” Robot. Auton. Syst. 42 (2), 125–134 (2003).Google Scholar
33. Bekhit, A., Dehghani, A. and Richardson, R., “Kinematic analysis and locomotion strategy of a pipe inspection robot concept for operation in active pipelines,” International Journal of Mechanical Engineering and Mechatronics 1 (1), 15–27 (2012).Google Scholar
34. Agrawal, S. K., Kumar, S. and Yim, M., “Polyhedral single degree-of-freedom expanding structures: Design and prototypes,” ASME J. Mech. Des. 124 (3), 473–478 (2002).Google Scholar
35. Dunlop, D. R. and Jones, T. P., “Position analysis of a 3-DOF parallel manipulator,” Mech. Mach. Theory 32 (8), 903–920 (1997).Google Scholar
36. Karouia, M. and Hervé, J. M., “Asymmetrical 3-dof spherical parallel mechanisms,” Eur. J. Mech. A/Solid 24 (1), 47–57 (2005).Google Scholar
37. Gogu, G., “Mobility of mechanisms: Acritical review,” Mech. Mach. Theory 40 (9), 1068–1097 (2005).Google Scholar
38. Zlatanov, D., Bonev, I. A. and Gosselin, C. M., “Constraint Singularities of Parallel Mechanisms,” Proceeding of IEEE International Conference on Robotics and Automation, Washington, DC, USA (May. 11–15, 2002) pp. 496–502.Google Scholar
39. Boxerbaum, A. S., Horchler, A. D., Shaw, K. M., Chiel, H. J. and Quinn, R. D., “Worms, Waves and Robots,” Proceeding of IEEE International Conference on Robotics and Automation, Saint Paul, USA, (May 14–18, 2012) pp. 14–18.Google Scholar
40. Chen, I., Yeo, S. H. and Gao, Y., “Locomotive gait generation for inchworm-like robots using finite state approach,” Robotica. 19, 535–542 (2001).Google Scholar
41. Yu, H. T., Ma, P. S. and Cao, C. Z., “A Novel In-Pipe Worming Robot Based on SMA,” Proceeding of IEEE International Conference on Mechatronics and Automation, Niagara Falls, Canada, (Jul. 29-Aug. 1, 2005) pp. 923–927.Google Scholar
42. Sastra, J., Chittaand, S. and Yim, M., “Dynamic rolling for a modular loop robot,” Int. J. Robot. Res. 28 (6), 758–773 (2009).Google Scholar
43. Liu, C. H., Yao, Y. A., Li, R. M., Tian, Y. B., Zhang, N., Ji, Y. Y. and Kong, F. Z., “Rolling 4R linkages,” Mech. Mach. Theory 48, 1–14 (2012).Google Scholar
44. Yamawaki, T., Mori, O. and Omata, T., “Nonholonomic Dynamic Rolling Control of Reconfigurable 5R Closed Kinematic Chain Robot with Passive Joints,” Proceeding of IEEE International Conference on Robotics and Automation, Taipei, China, (Sep. 14–19, 2003) pp. 4054–4059.Google Scholar