VARIABLE GEOMETRY TRACKED UNMANNED GROUNDED VEHICLE - Model, Stability and Experiments

Jean-Luc Paillat, Philippe Lucidarme, Laurent Hardouin

Abstract

This paper introduces an originally designed tracked robot. This robot belongs to the VGSTV (Variable Geometry Single Tracked Vehicle) category. It is equipped with two tracks mounted on an actuated chassis. The first joint is used to articulate the chassis and the second one to keep the tracks tightened. By controlling the chassis joint it becomes possible to adapt the shape of the tracks to the ground and even to release the tracks in order to pass through specific obstacles. A prototype has been build; technical specifications and dynamic model are presented in this paper. Tele-operated experiments have been conducted and have shown that the stability of the robot have to be addressed. We experimented and compared two classical criterions based on the center of mass and on the zero moment point technique. Experimental results are discussed in the case of a staircase clearing.

References

  1. Carlson, J. and Murphy, R. R. (2003). Reliability analysis of mobile robots. International Conferenee on Robotics and Automation.
  2. Carlson, J. and Murphy, R. R. (2005). How ugvs physically fail in the field. IEEE Transactions on robotics, 21(3):423-437.
  3. Casper, J. and Murphy, R. R. (2003). Human-robot interactions during the robot-assisted urban search and rescue response at the world trade center. IEEE Transactions on systems, man, and cybernetics, 33(3):367- 384.
  4. Clement, G. and Villedieu, E. (1987). Variable geometry track vehicle. Us patent.
  5. Craig, J. J. (1989). Introduction to Robotics Mechanics and control. Silma, 2 edition.
  6. Frost, T., Norman, C., Pratt, S., and Yamauchi, B. (2002). Derived performance metrics and measurements compared to field experience for the packbot. Proceedings of the 2002 PerMIS Workshop.
  7. Guarnieri, M., Debenest, P., Inoh, T., Fukushima, E., and Hirose, S. (2004). Development of helios vii : an arm-equipped tracked vehicle for search and rescue operations. IEEE/RSJ Int. Conference on Intelligent Robots.
  8. Iwamoto, T. and Yamamoto, H. (1983). Variable configuration track laying vehicle (us patent).
  9. Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., and Hirukawa, H. (2003). Biped walking pattern generation by using preview control of zero moment point. Proceedings of the 2002 IEEE Internationnal Conference on Robotics ans Automation.
  10. Khalil, W. and Dombre, E. (2004). Modeling, Identification and Control of Robots. Kogan Page Science, 2 edition.
  11. Kim, J., Chung, W. K., Youm, Y., and Lee, B. H. (2002). Real time zmp compensation method using null motion for mobile manipulators. Proceedings of the 2002 IEEE Internationnal Conference on Robotics ans Automation.
  12. Kinugasa, T., Otani, Y., Haji, T., Yoshida, K., Osuka, K., and Amano, H. (2008). A proposal of flexible monotread mobile track. Internationnal Conference on Intelligent Robots and Systems.
  13. Kyun, L. S., Il, P. D., Keun, K. Y., Byung-Soo, K., and Sang-Won, J. (2005). Variable geometry singletracked mechanism for a rescue robot. IEEE International Workshop on Safety, Security and Rescue Robotics, pages 111-115.
  14. Misawa, R. (1997). Stair-climbing crawler transporter. Us patent.
  15. Paillat, J. L., Lucidarme, P., and Hardouin, L. (2008). Variable geometry tracked vehicle, description, model and behavior. Conference Mecatronics.
  16. Vincent, I. and Trentini, M. (2007). Shape-shifting tracked robotic vehicle for complex terrain navigation: Characteristics and architecture. Technical memorandum, Defence R and D Canada.
  17. Vukobratovic, M. and Borovac, B. (2004). Zero-momment point - thirty five years of its life. Internationnal journal of humanoid Robotics, 1(1):157-173.
Download


Paper Citation


in Harvard Style

Paillat J., Lucidarme P. and Hardouin L. (2009). VARIABLE GEOMETRY TRACKED UNMANNED GROUNDED VEHICLE - Model, Stability and Experiments . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 21-28. DOI: 10.5220/0002182000210028


in Bibtex Style

@conference{icinco09,
author={Jean-Luc Paillat and Philippe Lucidarme and Laurent Hardouin},
title={VARIABLE GEOMETRY TRACKED UNMANNED GROUNDED VEHICLE - Model, Stability and Experiments},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={21-28},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002182000210028},
isbn={978-989-674-000-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - VARIABLE GEOMETRY TRACKED UNMANNED GROUNDED VEHICLE - Model, Stability and Experiments
SN - 978-989-674-000-9
AU - Paillat J.
AU - Lucidarme P.
AU - Hardouin L.
PY - 2009
SP - 21
EP - 28
DO - 10.5220/0002182000210028