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García, J. M., Bohórquez, A., & Valero, A. A. (2022). Effect of Suspension on Tracking Trajectories in Robots Moving on Hard Terrains with Different Roughness. Ingenierías USBmed, 11(1), 18–30. https://doi.org/10.21500/20275846.4380 (Original work published August 4, 2020)
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Abstract
mobile robots have been developed to perform multiple tasks where trajectory tracking is necessary. If these robots are equipped with suspension systems, they must be thoroughly analyzed since the suspension can affect the ability to follow paths when the robot travels over highly rough terrain. In this work, a correlational study is shown where the effect of each parameter of the suspension system of a Skid Steer mobile robot (Lázaro) on the accuracy of trajectory tracking when it moves on hard horizontal surfaces with variable roughness is estimated. Using simulation tools and quantifying some standardized parameters to study the robot's sliding, it is possible to determine the appropriate magnitudes of each suspension parameter to reduce the error in the tracking of trajectories of this mobile robot, and in turn, estimate the magnitude of these suspension parameters in other cases in general.
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References
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[30] G. Ishigami, K. Nagatani, and K. Yoshida, "Slope traversal controls for planetary exploration rover on sandy terrain," Journal of Field Robotics, vol. 26, no. 3, pp. 264–286, 2009.
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[2] J. Casper and R. Murphy, "Human – robot interactions during the robot-assisted urban search and rescue response at the World Trade Center," IEEE Transactions on Systems, Man and Cybernetics, vol. 33, no. 3, pp. 367-385, 2003.
[3] M. Guarnieri et al., "Helios system: a team of tracked robots for special urban search and rescue operations," in IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, 2009, pp. 2795-2800.
[4] Q. Feng, X. Wang, W. Zheng, Q. Qiu, and K. Jiang, "New strawberry harvesting robot for elevated-trough culture," International Journal of Agricultural and Biological Engineering, vol. 5, no. 2, pp. 1-8, 2012.
[5] F. Matsuno and S. Tadokoro, "Rescue robots and systems in Japan," in IEEE International Conference on Robotics and Biomimetics, Shenyang, 2004, pp. 12-20.
[6] S. Moosavian, H. Semsarilar, and A. Kalantari, "Design and manufacturing of a mobile rescue robot," in IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, 2006, pp. 3982-3987.
[7] F. Cordes, A. Babu, and F. Kirchner, "Static Force Distribution and Orientation Control for a Rover with an Actively Articulated Suspension System," in IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, 2017, pp. 5219-5224.
[8] J. M. García, I. Medina, A. G. Cerezo, and A. Linares, "Improving the static stability of a mobile manipulator using its end effector in contact with the ground," IEEE Latin American Transactions, vol. 13, no. 10, pp. 3228-3234, 2015.
[9] J. M. García, J. L. Martínez, A. Mandow, and A. García-Cerezo, "Slide-down prevention for wheeled mobile robots on slopes," in 3rd International Conference on Mechatronics and Robotics Engineering, París, 2017, pp. 63-68.
[10] J. M. García, J. L. Martínez, A. Mandow, and A. García-Cerezo, "Steerability analysis on slopes of a mobile robot with a ground contact arm," in Proc. 23rd Mediterranean Conference on Control and Automation, Torremolinos, Spain, 2015, pp. 267-272, DOI: 10.1109/MED.2015.7158761.
[11] S. Nishida and S. Wakabayashi, "A mobility system for lunar rough terrain," in ICROS-SICE International Joint Conference, Fukuoka, 2009, pp. 4716-4721.
[12] J. Suthakorn et al., "On the design and development of a rough terrain robot for rescue missions," in IEEE International Conference on Robotics and Biomimetics, Bangkok, 2009, pp. 1830-1835.
[13] D. Pongas, M. Mistry, and S. Schaal, "A robust quadruped walking gait for traversing rough terrain," in IEEE International Conference on Robotics and Automation, Roma, 2007, pp. 1474-1479.
[14] F. Cordes, F. Kirchner, and A. Babu, "Design and field testing of a rover with an actively articulated suspension system in a Mars analogue terrain," Journal of Field Robotics, vol. 35, no. 7, pp. 1149-1181, 2018.
[15] Z. Luo, J. Shang, G. Wei, and L. Ren, "Module-based structure design of wheeled mobile robot," Mechanical Sciences, vol. 9, no. 1, pp. 103–121, 2018, DOI: 10.5194/ms-9-103-2018.
[16] L. Yang, B. Cai, R. Zhang, K. Li, and R. Wang, "A new type design of lunar rover suspension structure and its neural network control system," Journal of Intelligent and Fuzzy Systems, vol. 35, no. 1, pp. 269-281, 2018.
[17] J. Hurel, A. Mandow, and A. García-Cerezo, "Los sistemas de suspensión activa y semiactiva: una revisión," Revista iberoamericana de automática e informática, vol. 10, no. 2, pp. 121-132, 2013, DOI: 10.1016/j.riai.2013.03.002.
[18] W. Reid, F. Pérez-Grau, A. Göktogan, and S. Sukkarieh, "Actively articulated suspension for a wheel-on-leg rover operating on a martian analog surface," in IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016, pp. 5596-5602, DOI: 10.1109/ICRA.2016.7487777.
[19] J. Funde, K. Wani, N. Dhote, and S. Patil, "Performance analysis of semi-active suspension system based on suspension working space and dynamic tire deflection," , Singapure, 2019, pp. 1-15, DOI: 10.1007/978-981-13-2697-4_1.
[20] G. Reina and R. Galati, "Slip-based terrain estimation with a skid-steer vehicle," Vehicle Systems Dynamics, vol. 54, no. 10, pp. 1384-1404, 2016.
[21] S. Nakamura et al., "Wheeled robot with movable center of mass for traversing over rough terrain," in Proc. IEEE/RSJ International Conference on Intelligents Robots and Systems, San Diego, USA, 2007, pp. 1228-1233.
[22] S. Chen et al., "Modelling the vertical dynamics of unmanned ground vehicle with rocker suspension," in IEEE International Conference on Mechatronics and Automation, akamatsu, 2017, pp. 370-375.
[23] A. Bouton, C. Grand, and F. Benamar, "Motion control of a compliant wheel-leg robot for rough terrain crossing," in IEEE International Conference on Robotics and Automation, Stockholm, 2016, pp. 2846-2851.
[24] A. Moosavian, K. Alipour, and Y. Bahramzadeh, "Dynamics modeling and tip-over stability of suspended wheeled mobile robots with multiple arms," in IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, 2007, pp. 1210-1215.
[25] L. Solaque, M. Molina, and E. Rodríguez, "Seguimiento de trayectorias con un robot móvil de," Ingenierías USBMed, vol. 5, no. 1, pp. 26-34, 2014.
[26] J. García et al., "Lázaro: Robot Móvil dotado de Brazo para Contacto con el Suelo," Revista Iberoamericana de Automática e Informática industrial, vol. 14, no. 1, pp. 174–183, 2017.
[27] S. Zuccaro, S. Canfield, and T. Hill, "Slip prediction of skid-steer mobile robots in manufacturing," in ASME 2017 International Design Engineering Technical Conferences and, Cleveland, 2017, pp. 1-8.
[28] R. Fernández, R. Aracil, and M. Armada, "Traction control for wheeled mobile robots," Revista Iberoamericana de Automática e Informática Industrial , vol. 9, no. 4, pp. 393-435, 2012.
[29] L. Gracia, "Modelado Cinemático y Control de Robots Móviles con Ruedas," Universidad Politécnica de Valencia, Valencia, Tesis Doctoral 2006.
[30] G. Ishigami, K. Nagatani, and K. Yoshida, "Slope traversal controls for planetary exploration rover on sandy terrain," Journal of Field Robotics, vol. 26, no. 3, pp. 264–286, 2009.
[31] M. Prado, A. Mata, A. Perez-Blanca, and F. Ezquerro, "Effects of terrain irregularities on wheeled mobile robot," Robotica, vol. 21, no. 02, pp. 143-152, 2003.
[32] S. Oliveira, "Analysis of surface roughness and models of mechanical contacts," Università di Pisa, Pisa, Trabajo fin de carrera 2005.
[33] Mitutoyo, "Quick guide to surface roughness measurement," Mitutoyo America Corporation, USA, Bulletin 2229, 2016.
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