Handbook of Research on Advancements in Robotics and Mechatronics by Habib Maki

Author:Habib, Maki
Language: eng
Format: epub
Published: 2015-04-14T00:06:44.370000+00:00

Chapter 19

Mechatronic Design of Mobile Robots for Stable Obstacle Crossing at Low and High Speeds

Jean-Christophe Fauroux

Clermont University, France

Frédéric Chapelle

Clermont University, France

Belhassen-Chedli Bouzgarrou

Clermont University, France

Philippe Vaslin

Clermont University, France

Mohamed Krid

Clermont University, France

Marc Davis

Clermont University, France

ABSTRACT

This chapter presents recent mechatronics developments to create original terrestrial mobile robots capable of crossing obstacles and maintaining their stability on irregular grounds. Obstacle crossing is both considered at low and high speeds. The developed robots use wheeled propulsion, efficient on smooth grounds, and improve performance on irregular grounds with additional mobilities, bringing them closer to legged locomotion (hybrid locomotion). Two sections are dedicated to low speed obstacle crossing. Section two presents an original mobile robot combining four actuated wheels with an articulated frame to improve obstacle climbing. Section three extends this work to a new concept of modular poly-robot for agile transport of long payloads. The last two sections deal with high-speed motion. Section four describes new suspensions with four mobilities that maintain pitch stability of vehicles crossing obstacles at high speed. After the shock, section five demonstrates stable pitch control during ballistic phase by accelerating-braking the wheels in flight.

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