Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125796
Sharafatdin Yessirkepov, T. Umurzakov, Rassul Shaimerdenov, M. Folgheraiter
Designing multiple DOFs joints having a parallel kinematic structure brings additional challenges, if compared with classical single DOF joints. Generally, it is more difficult to formalize the forward kinematic model for a parallel kinematic chain, in addition, while performing a target motion, the actuators have to be carefully coordinated to avoid wasting energy or cause damages to the system. The problem is becoming even more complex if instead of using a rigid structure, elastic elements are incorporated in the design. With this work, we present how to make usage of the method of Finite Element Analysis (FEA) in order to compare alternative designs for the central leg of a shoulder joint having a parallel kinematic architecture. The optimization process of the joint's design was defined by providing 2 different scenarios: 1) bending and 2) twisting. Moreover, we introduce how to model the kinematics of an elastic legs, by replacing the bending object with a combination of 3 universal joints and 2 links. In order to increase the payload-to-weight ratio of the shoulder joint, a high power-to-weight ratio servomotor was integrated by using a tendon-driven mechanism.
{"title":"An Elastic Shoulder Joint for Humanoid Robotics Application","authors":"Sharafatdin Yessirkepov, T. Umurzakov, Rassul Shaimerdenov, M. Folgheraiter","doi":"10.1109/ICARA56516.2023.10125796","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125796","url":null,"abstract":"Designing multiple DOFs joints having a parallel kinematic structure brings additional challenges, if compared with classical single DOF joints. Generally, it is more difficult to formalize the forward kinematic model for a parallel kinematic chain, in addition, while performing a target motion, the actuators have to be carefully coordinated to avoid wasting energy or cause damages to the system. The problem is becoming even more complex if instead of using a rigid structure, elastic elements are incorporated in the design. With this work, we present how to make usage of the method of Finite Element Analysis (FEA) in order to compare alternative designs for the central leg of a shoulder joint having a parallel kinematic architecture. The optimization process of the joint's design was defined by providing 2 different scenarios: 1) bending and 2) twisting. Moreover, we introduce how to model the kinematics of an elastic legs, by replacing the bending object with a combination of 3 universal joints and 2 links. In order to increase the payload-to-weight ratio of the shoulder joint, a high power-to-weight ratio servomotor was integrated by using a tendon-driven mechanism.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"240 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122515401","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125934
Aphilak Lonklang, János Botzheim
Mobile robots have been widely used in automated factory applications such as raw material delivery and product storage transportation. Path planning algorithms have been proposed to generate a feasible global approach. The path result must be free from obstacle regions and shortest. Previously we proposed an Improved Rapidly-Exploring Random Tree (Improved RRT*) algorithm. The algorithm consists of the pre-processing step for feasible mapping, primary processing with RRT* for path generating, and post-processing with Bacterial Mutation and Node Deletion operators. This paper aims to improve further the capability of the Improved RRT* algorithm by reducing the overall computation time. The proposed method reduces the complexity of the random map after each iteration by deleting the used nodes. In this way, the computational time could be reduced.
{"title":"A Rapidly-Exploring Random Tree Algorithm with Reduced Random Map Size","authors":"Aphilak Lonklang, János Botzheim","doi":"10.1109/ICARA56516.2023.10125934","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125934","url":null,"abstract":"Mobile robots have been widely used in automated factory applications such as raw material delivery and product storage transportation. Path planning algorithms have been proposed to generate a feasible global approach. The path result must be free from obstacle regions and shortest. Previously we proposed an Improved Rapidly-Exploring Random Tree (Improved RRT*) algorithm. The algorithm consists of the pre-processing step for feasible mapping, primary processing with RRT* for path generating, and post-processing with Bacterial Mutation and Node Deletion operators. This paper aims to improve further the capability of the Improved RRT* algorithm by reducing the overall computation time. The proposed method reduces the complexity of the random map after each iteration by deleting the used nodes. In this way, the computational time could be reduced.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126838333","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10126056
Anran Li, H. Gurocak
This paper presents an adaptation of the mobile robot bug algorithm to control a cobot to reduce collisions with a human worker in the same work cell. Collaborative robots (cobots) are popular in industry because they enable close collaboration between a human and a robot. Although the cobot can stop when a collision happens, it is not a pleasant or safe working environment for the human to be hit by the cobot possibly multiple times a day. The proposed approach uses inexpensive proximity sensors on the cobot and a simple algorithm. An adjustable yaw angle is introduced to the algorithm to further reduce collisions. Results from pick-and-place experiments with UR 10 cobot show significant reduction of collisions.
{"title":"Modified Bug Algorithm with Proximity Sensors to Reduce Human-Cobot Collisions","authors":"Anran Li, H. Gurocak","doi":"10.1109/ICARA56516.2023.10126056","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10126056","url":null,"abstract":"This paper presents an adaptation of the mobile robot bug algorithm to control a cobot to reduce collisions with a human worker in the same work cell. Collaborative robots (cobots) are popular in industry because they enable close collaboration between a human and a robot. Although the cobot can stop when a collision happens, it is not a pleasant or safe working environment for the human to be hit by the cobot possibly multiple times a day. The proposed approach uses inexpensive proximity sensors on the cobot and a simple algorithm. An adjustable yaw angle is introduced to the algorithm to further reduce collisions. Results from pick-and-place experiments with UR 10 cobot show significant reduction of collisions.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114808689","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125919
Raktim Gautam Goswami, P. V. Amith, J. Hari, A. Dhaygude, P. Krishnamurthy, J. Rizzo, A. Tzes, F. Khorrami
In this paper, a method for real-time global localization (registration) of an agent (robot or visually impaired person) in the presence of an a priori indoor map (e.g., an image of a floor plan) is presented. In the proposed algorithm, the SLAM map created by the agent equipped with RGB-D and IMU sensors is used in conjunction with an a priori architectural floor plan to find the global location of the agent. This involves extraction and vectorization of the semantic object locations from the a priori map image, implementation of real-time semantic SLAM using onboard sensors on the agent, and the use of a particle filter based optimization method for global localization. The proposed algorithm is applied in an indoor environment and localization results are presented showing the effectiveness of the approach.
{"title":"Efficient Real-Time Localization in Prior Indoor Maps Using Semantic SLAM","authors":"Raktim Gautam Goswami, P. V. Amith, J. Hari, A. Dhaygude, P. Krishnamurthy, J. Rizzo, A. Tzes, F. Khorrami","doi":"10.1109/ICARA56516.2023.10125919","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125919","url":null,"abstract":"In this paper, a method for real-time global localization (registration) of an agent (robot or visually impaired person) in the presence of an a priori indoor map (e.g., an image of a floor plan) is presented. In the proposed algorithm, the SLAM map created by the agent equipped with RGB-D and IMU sensors is used in conjunction with an a priori architectural floor plan to find the global location of the agent. This involves extraction and vectorization of the semantic object locations from the a priori map image, implementation of real-time semantic SLAM using onboard sensors on the agent, and the use of a particle filter based optimization method for global localization. The proposed algorithm is applied in an indoor environment and localization results are presented showing the effectiveness of the approach.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115614473","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125912
Lailu Li, Lixun Zhang, Bing Wang, Da Song
It has been proved by aerospace medicine that physical exercises are the most effective countermeasure to eliminate the negative influence brought by microgravity when astronauts carry out space exploration missions. A cable-driven astronaut on-orbit physical exercise equipment (CAPE) is proposed in this paper, and to verify its feasibility and performance: First, the cable-driven astronaut on-orbit physical exercise equipment was introduced. Second, the force analysis of the CAPE-assisted deep squat was conducted, and the cable tension distribution strategy was established. Third, the simulation study was carried out by utilizing Matlab. The results demonstrate that the deep squat conducted by the CAPE is smooth and steady, the cable tension distribution strategy is accurate, astronaut can realize deep squat during a space trip with the assistance of CAPE.
{"title":"Simulation Analysis of A Cable-Driven Astronaut on-Orbit Physical Exercise Equipment","authors":"Lailu Li, Lixun Zhang, Bing Wang, Da Song","doi":"10.1109/ICARA56516.2023.10125912","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125912","url":null,"abstract":"It has been proved by aerospace medicine that physical exercises are the most effective countermeasure to eliminate the negative influence brought by microgravity when astronauts carry out space exploration missions. A cable-driven astronaut on-orbit physical exercise equipment (CAPE) is proposed in this paper, and to verify its feasibility and performance: First, the cable-driven astronaut on-orbit physical exercise equipment was introduced. Second, the force analysis of the CAPE-assisted deep squat was conducted, and the cable tension distribution strategy was established. Third, the simulation study was carried out by utilizing Matlab. The results demonstrate that the deep squat conducted by the CAPE is smooth and steady, the cable tension distribution strategy is accurate, astronaut can realize deep squat during a space trip with the assistance of CAPE.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115655407","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125643
N. Evangeliou, Dimitris Chaikalis, Nikolaos Giakoumidis, A. Tzes
This paper is concerned with the mechatronic design of a tricopter drone which can move as a ground vehicle and/or as a vessel. The tricopter has three pairs of coaxial rotors and is capable of providing 100N of thrust with a 15 minute flight time using an 8S LiPo 12.5Ah battery. Three waterproof motors are attached to an isosceles triangular omniwheel configuration for operating as a ground vehicle after landing. The customized wheels allow the vehicle to move with a linear velocity up to 2 m/sec at a tilt slope up to 20°. Two submersible parallel water thrusters provide 24N collective force leading to a maximum vessel velocity of 1 m/s and a turn radius of 1.5 m. The design alternatives are highlighted and prioritized according to their weight while the overall amphibious drone is shown in several flight/omniwheel vehicle/vessel modes.
{"title":"Mechatronic Design of an Amphibious Drone","authors":"N. Evangeliou, Dimitris Chaikalis, Nikolaos Giakoumidis, A. Tzes","doi":"10.1109/ICARA56516.2023.10125643","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125643","url":null,"abstract":"This paper is concerned with the mechatronic design of a tricopter drone which can move as a ground vehicle and/or as a vessel. The tricopter has three pairs of coaxial rotors and is capable of providing 100N of thrust with a 15 minute flight time using an 8S LiPo 12.5Ah battery. Three waterproof motors are attached to an isosceles triangular omniwheel configuration for operating as a ground vehicle after landing. The customized wheels allow the vehicle to move with a linear velocity up to 2 m/sec at a tilt slope up to 20°. Two submersible parallel water thrusters provide 24N collective force leading to a maximum vessel velocity of 1 m/s and a turn radius of 1.5 m. The design alternatives are highlighted and prioritized according to their weight while the overall amphibious drone is shown in several flight/omniwheel vehicle/vessel modes.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129691642","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10126075
Christian Eymüller, Julian Hanke, Alexander Poeppel, W. Reif
The industry is undergoing a disruptive shift from mass production to individually manufactured one-offs. To achieve this transformation, the production facilities must also be flexible and able to configure themselves according to requirements. Often it is not enough to reconfigure the software, but the hardware must also be adapted accordingly. Such customizable hardware and software systems are called Plug & Produce systems. For such Plug & Produce robot systems, we have developed an automatic configuration generation for hardware configurations based on capability/skill descriptions of individual hardware components. The configuration creation is done with the help of an ontology, in which information about modular hardware components, their capabilities, and the interrelationships of their interfaces (geometric, electrical, and data) is stored.
{"title":"Towards Self-Configuring Plug & Produce Robot Systems Based on Ontologies","authors":"Christian Eymüller, Julian Hanke, Alexander Poeppel, W. Reif","doi":"10.1109/ICARA56516.2023.10126075","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10126075","url":null,"abstract":"The industry is undergoing a disruptive shift from mass production to individually manufactured one-offs. To achieve this transformation, the production facilities must also be flexible and able to configure themselves according to requirements. Often it is not enough to reconfigure the software, but the hardware must also be adapted accordingly. Such customizable hardware and software systems are called Plug & Produce systems. For such Plug & Produce robot systems, we have developed an automatic configuration generation for hardware configurations based on capability/skill descriptions of individual hardware components. The configuration creation is done with the help of an ontology, in which information about modular hardware components, their capabilities, and the interrelationships of their interfaces (geometric, electrical, and data) is stored.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128894441","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125800
Manizheh Zand, K. Kodur, Maria Kyrarini
Robots have the potential to assist people in daily tasks, such as cooking a meal. Communicating with the robots verbally and in an unstructured way is important, as spoken language is the main form of communication for humans. This paper proposes a novel framework that automatically generates robot actions from unstructured speech. The proposed frame-work was evaluated by collecting data from 15 participants preparing their meals while seating on a chair in a randomly disrupted environment. The system can identify and respond to a task sequence while the user may be engaged in unrelated conversations, even if the user's speech might be unstructured and grammatically incorrect. The accuracy of the proposed system is 98.6%, which is a very promising finding.
{"title":"Automatic Generation of Robot Actions for Collaborative Tasks from Speech","authors":"Manizheh Zand, K. Kodur, Maria Kyrarini","doi":"10.1109/ICARA56516.2023.10125800","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125800","url":null,"abstract":"Robots have the potential to assist people in daily tasks, such as cooking a meal. Communicating with the robots verbally and in an unstructured way is important, as spoken language is the main form of communication for humans. This paper proposes a novel framework that automatically generates robot actions from unstructured speech. The proposed frame-work was evaluated by collecting data from 15 participants preparing their meals while seating on a chair in a randomly disrupted environment. The system can identify and respond to a task sequence while the user may be engaged in unrelated conversations, even if the user's speech might be unstructured and grammatically incorrect. The accuracy of the proposed system is 98.6%, which is a very promising finding.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121115756","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125654
Masamichi Kosuge, Masaki Takahashi
Recently, an alternative pressure mattress has been proposed to prevent pressure ulcers. In this study, we aim to design a control system for body pressure distribution using the mattress. This study focuses on modeling the dynamics between the body pressure distribution and the mattress. As modeling based on first principles is challenging, we identify the model from experimental data. However, when high-dimensional data such as body pressure distribution are directly used for identification, the model accuracy can deteriorate. Therefore, we need to determine the suitable model structure or dataset. Herein, we examined how the prediction accuracy of body pressure distribution varies with the dataset and model structure. We also proposed a method for representing the model as the dynamics of the parameters of the Gaussian Mixture Model to suppress the estimated parameters. To the best of our knowledge, this study is the first to propose the body pressure model as dynamics of the parameters of the Gaussian Mixture Model.
{"title":"Modeling of Body Pressure Distribution on Alternative Pressure Mattress","authors":"Masamichi Kosuge, Masaki Takahashi","doi":"10.1109/ICARA56516.2023.10125654","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125654","url":null,"abstract":"Recently, an alternative pressure mattress has been proposed to prevent pressure ulcers. In this study, we aim to design a control system for body pressure distribution using the mattress. This study focuses on modeling the dynamics between the body pressure distribution and the mattress. As modeling based on first principles is challenging, we identify the model from experimental data. However, when high-dimensional data such as body pressure distribution are directly used for identification, the model accuracy can deteriorate. Therefore, we need to determine the suitable model structure or dataset. Herein, we examined how the prediction accuracy of body pressure distribution varies with the dataset and model structure. We also proposed a method for representing the model as the dynamics of the parameters of the Gaussian Mixture Model to suppress the estimated parameters. To the best of our knowledge, this study is the first to propose the body pressure model as dynamics of the parameters of the Gaussian Mixture Model.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"131 10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116404428","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-02-10DOI: 10.1109/ICARA56516.2023.10125898
Thani Althani, Rufaidah Salim, Mohammed Minhas Anzil, P. Subramaniam, Khuloud Almaeeni, Amit Shukla
Unmanned ground vehicles (UGVs) are currently used to collect data and deliver payloads across industries. Most wheeled UGV implementations for uneven terrain are based on a combination of rocker and bogie. This paper proposes a variation of a suspension system for locomotion suitable for desert terrain. This variation is the transformation of the traditional inclined bogies parallel to the ground surface as the front of the rover, along with an additional transversal bogie as the rear of the robot. The design parameters, material selection, and fabrication process were performed to achieve the highest possible performance of the UGV in navigation on desert terrain. To test stability and obstacle climbing ability, experiments were carried out in desert terrain and concrete surfaces.
{"title":"Design and Implementation of a Locomotion Suspension System for a Desert Terrain UGV","authors":"Thani Althani, Rufaidah Salim, Mohammed Minhas Anzil, P. Subramaniam, Khuloud Almaeeni, Amit Shukla","doi":"10.1109/ICARA56516.2023.10125898","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125898","url":null,"abstract":"Unmanned ground vehicles (UGVs) are currently used to collect data and deliver payloads across industries. Most wheeled UGV implementations for uneven terrain are based on a combination of rocker and bogie. This paper proposes a variation of a suspension system for locomotion suitable for desert terrain. This variation is the transformation of the traditional inclined bogies parallel to the ground surface as the front of the rover, along with an additional transversal bogie as the rear of the robot. The design parameters, material selection, and fabrication process were performed to achieve the highest possible performance of the UGV in navigation on desert terrain. To test stability and obstacle climbing ability, experiments were carried out in desert terrain and concrete surfaces.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127433971","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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