Design of a transformable mobile robot for enhancing mobility

Inho Kim; Wonseok Jeon; Hyunseok Yang

doi:10.1177/1729881416687135

Design of a transformable mobile robot for enhancing mobility

Inho Kim, Wonseok Jeon, Hyunseok Yang

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

4 Citations (Scopus)

Abstract

This article proposes a design of a transformable mobile robot as a new concept of hybrid-type mobile robot in order to enhance mobility. Mobility considered in this work is based on stability, energy efficiency, and the capability to overcome obstacles. The proposed transformable mobile robot can change its bogie link lengths and wheel size. The relationships between mobility and the link length and the wheel size are studied. Its stability, energy efficiency, and the capability to overcome obstacles are compared through the simulations of three famous conventional passive bogie-type robots (Rocker-Bogie, RCL-E, and CRAB types) and the proposed robot. The simulation and experimental results show that the suggested transformable robot is superior to the conventional-type robots in terms of mobility enhancement.

Original language	English
Journal	International Journal of Advanced Robotic Systems
Volume	14
Issue number	1
DOIs	https://doi.org/10.1177/1729881416687135
Publication status	Published - 2017 Jan 18

Bibliographical note

Publisher Copyright:
© The Author(s) 2017.

All Science Journal Classification (ASJC) codes

Software
Computer Science Applications
Artificial Intelligence

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1177/1729881416687135

Cite this

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abstract = "This article proposes a design of a transformable mobile robot as a new concept of hybrid-type mobile robot in order to enhance mobility. Mobility considered in this work is based on stability, energy efficiency, and the capability to overcome obstacles. The proposed transformable mobile robot can change its bogie link lengths and wheel size. The relationships between mobility and the link length and the wheel size are studied. Its stability, energy efficiency, and the capability to overcome obstacles are compared through the simulations of three famous conventional passive bogie-type robots (Rocker-Bogie, RCL-E, and CRAB types) and the proposed robot. The simulation and experimental results show that the suggested transformable robot is superior to the conventional-type robots in terms of mobility enhancement.",

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Design of a transformable mobile robot for enhancing mobility

Abstract

Bibliographical note

All Science Journal Classification (ASJC) codes

UN SDGs

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