Fukuoka, Yasuhiro and Oshino, Kazuyuki and Ahmad Najmuddin, Ibrahim (2022) Negotiating uneven terrain by a simple teleoperated tracked vehicle with internally movable center of gravity. Applied Sciences (Switzerland), 12 (1). pp. 1-16. ISSN 2076-3417. (Published)
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Abstract
We propose a mechanical design for a simple teleoperated unmanned ground vehicle (UGV) to negotiate uneven terrain. UGVs are typically classified into legged, legged-wheeled, wheeled, and tanked forms. Legged vehicles can significantly shift their center of gravity (COG) by positioning their multi-articulated legs at appropriate trajectories, stepping over a high obstacle. To realize a COG movable mechanism with a small number of joints, a number of UGVs have been developed that can shift their COG by moving a mass at a high position above the body. However, these tend to pose a risk of overturning, and the mass must be moved quite far to climb a high step. To address these issues, we design a novel COG shift mechanism, in which the COG can be shifted forward and backward inside the body by moving most of its internal devices. Since this movable mass includes DC motors for driving both tracks, we can extend the range of the COG movement. We demonstrate that a conventional tracked vehicle prototype can traverse a step and a gap between two steps, as well as climb stairs and a steep slope, with a human operating the vehicle movement and the movable mass position.
| Item Type: | Article |
|---|---|
| Additional Information: | Indexed by Scopus |
| Uncontrolled Keywords: | Field robot; Movable center of gravity; Negotiating uneven terrain; Teleoperation; Tracked vehicle; Unmanned ground vehicle |
| Subjects: | T Technology > T Technology (General) T Technology > TA Engineering (General). Civil engineering (General) T Technology > TJ Mechanical engineering and machinery T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Faculty/Division: | Faculty of Manufacturing and Mechatronic Engineering Technology |
| Depositing User: | Mr Muhamad Firdaus Janih@Jaini |
| Date Deposited: | 27 Oct 2022 00:41 |
| Last Modified: | 27 Oct 2022 00:41 |
| URI: | http://umpir.ump.edu.my/id/eprint/35117 |
| Download Statistic: | View Download Statistics |
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