Pub Date : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268236
A. Rerkratn, A. Luangpol, V. Riewruja, W. Petchmaneelumka
A simple technique to realize demodulator for linear variable differential transformer (LVDT) is presented in this paper. The proposed LVDT demodulator is based on sample and hold technique. The proposed scheme consists of peak detector, phase detector, monostable circuit, sample and hold circuit, and controllable unity-gain inverting/noninverting amplifier. The presented technique employs the simple and low-cost devices such as op-amp, and digital logic gate. Experimentation with the commercial LVDT model OP12.5G from Solartron metrology shows that the proposed LVDT demodulator provides the output voltage corresponding to the movement of LVDT core with satisfactory values and good linearity. The maximum error of the proposed demodulator is about 1.5%. In addition, the output magnitude of proposed LVDT demodulator can be adjusted by variable resistor (VR1) without the external circuit requirement.
{"title":"Simple LVDT Demodulator","authors":"A. Rerkratn, A. Luangpol, V. Riewruja, W. Petchmaneelumka","doi":"10.23919/ICCAS50221.2020.9268236","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268236","url":null,"abstract":"A simple technique to realize demodulator for linear variable differential transformer (LVDT) is presented in this paper. The proposed LVDT demodulator is based on sample and hold technique. The proposed scheme consists of peak detector, phase detector, monostable circuit, sample and hold circuit, and controllable unity-gain inverting/noninverting amplifier. The presented technique employs the simple and low-cost devices such as op-amp, and digital logic gate. Experimentation with the commercial LVDT model OP12.5G from Solartron metrology shows that the proposed LVDT demodulator provides the output voltage corresponding to the movement of LVDT core with satisfactory values and good linearity. The maximum error of the proposed demodulator is about 1.5%. In addition, the output magnitude of proposed LVDT demodulator can be adjusted by variable resistor (VR1) without the external circuit requirement.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"2013 1","pages":"480-483"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86199405","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268374
Joowon Lee, Junsoo Kim, H. Shim
Against recent cyber-attack strategies on networked control systems which commonly utilize information of control data, the notion of encrypted control system has been introduced, to protect private data in the network layer by encryption. However, even though the adversary cannot learn the information from the encrypted control signals or parameters, it is known that their values can be manipulated by the adversaries, based on homomorphic property of the cryptosystem. In this paper, we demonstrate that the injection of zero-dynamics attack is possible even for encrypted control systems. By injecting an attack signal, generated with knowledge of the plant model, directly on the encrypted controller output being transmitted to the actuator, we show that it disrupts the plant state while it is undetectable from the input and output of the controller. Simulation results are presented to demonstrate the effectiveness of the proposed attack.
{"title":"Zero-Dynamics Attack on Homomorphically Encrypted Control System","authors":"Joowon Lee, Junsoo Kim, H. Shim","doi":"10.23919/ICCAS50221.2020.9268374","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268374","url":null,"abstract":"Against recent cyber-attack strategies on networked control systems which commonly utilize information of control data, the notion of encrypted control system has been introduced, to protect private data in the network layer by encryption. However, even though the adversary cannot learn the information from the encrypted control signals or parameters, it is known that their values can be manipulated by the adversaries, based on homomorphic property of the cryptosystem. In this paper, we demonstrate that the injection of zero-dynamics attack is possible even for encrypted control systems. By injecting an attack signal, generated with knowledge of the plant model, directly on the encrypted controller output being transmitted to the actuator, we show that it disrupts the plant state while it is undetectable from the input and output of the controller. Simulation results are presented to demonstrate the effectiveness of the proposed attack.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"16 1","pages":"385-390"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88448902","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268284
Joon-Hyup Bae, Hyun-Jun Jo, Da-Wit Kim, Jae-Bok Song
In recent years, numerous studies have been conducted on the robot grasping using deep learning, which requires a lot of data and training time. This study proposes a grasping algorithm that does not require data collection and training. In addition, the hardware of the proposed system is simply configured for a quick application in industrial fields. This algorithm is performed through clustering and grasping analysis based on point clouds. First, the point cloud obtained from the 3D camera is clustered, and the cluster most similar to the 3D CAD model is selected. Next, using the selected cluster, the object pose and the grasping pose are estimated. Finally, the target object is grasped through the estimated grasping pose, and the grasped object is loaded with a predetermined pose in consideration of the object pose. In order to evaluate the performance of the proposed algorithm, the grasping and loading of the target object with a product used on the actual industrial site and the loading jig of the object were tested. The algorithm showed the success rate of 95% in grasping, transporting and loading experiments.
{"title":"Grasping System for Industrial Application Using Point Cloud-Based Clustering","authors":"Joon-Hyup Bae, Hyun-Jun Jo, Da-Wit Kim, Jae-Bok Song","doi":"10.23919/ICCAS50221.2020.9268284","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268284","url":null,"abstract":"In recent years, numerous studies have been conducted on the robot grasping using deep learning, which requires a lot of data and training time. This study proposes a grasping algorithm that does not require data collection and training. In addition, the hardware of the proposed system is simply configured for a quick application in industrial fields. This algorithm is performed through clustering and grasping analysis based on point clouds. First, the point cloud obtained from the 3D camera is clustered, and the cluster most similar to the 3D CAD model is selected. Next, using the selected cluster, the object pose and the grasping pose are estimated. Finally, the target object is grasped through the estimated grasping pose, and the grasped object is loaded with a predetermined pose in consideration of the object pose. In order to evaluate the performance of the proposed algorithm, the grasping and loading of the target object with a product used on the actual industrial site and the loading jig of the object were tested. The algorithm showed the success rate of 95% in grasping, transporting and loading experiments.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"114 1","pages":"608-611"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77565752","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268362
T. Mase, R. Kitahata, T. Hirogaki, E. Aoyama
With the advancement of the motion control of industrial robots in recent years, there is a demand for a method that can easily measure the accuracy of the synchronous control of a 2-axis dual-arm robot. Therefore, in this study, we propose a new measurement method that creates a ball rolling motion in a circular orbit on the work plate and uses the rolling motion error with respect to the reference circle. In this study, we conducted experiments on the teaching method when controlling the rolling motion of the ball at a position away from the center of the robot on the work plate. Results showed that an error occurred in the maximum inclination angle of the plate, which we kept the ball steady by correcting a teaching program. As the load is applied to the wrist joints by the plate, the effect of the correction of the teaching point angle cannot be obtained. However, the method of correcting the angular velocity between the teaching points was found to be effective.
{"title":"Investigation of novel teaching method for skillful operation of working plate with an industrial dual arm robot","authors":"T. Mase, R. Kitahata, T. Hirogaki, E. Aoyama","doi":"10.23919/ICCAS50221.2020.9268362","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268362","url":null,"abstract":"With the advancement of the motion control of industrial robots in recent years, there is a demand for a method that can easily measure the accuracy of the synchronous control of a 2-axis dual-arm robot. Therefore, in this study, we propose a new measurement method that creates a ball rolling motion in a circular orbit on the work plate and uses the rolling motion error with respect to the reference circle. In this study, we conducted experiments on the teaching method when controlling the rolling motion of the ball at a position away from the center of the robot on the work plate. Results showed that an error occurred in the maximum inclination angle of the plate, which we kept the ball steady by correcting a teaching program. As the load is applied to the wrist joints by the plate, the effect of the correction of the teaching point angle cannot be obtained. However, the method of correcting the angular velocity between the teaching points was found to be effective.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"17 1","pages":"1099-1104"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81704115","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268298
Seon-il Lee, Hyeon Kim, Uikyum Kim, Hyeonbeom Lee
This paper presents a control algorithm of a contact-based inspection for an Unmanned Aerial Vehicle (UAV) manipulator without using a force sensor. The conventional contact-based operation methods for a ground-based manipulator require a force sensor, but the force measurement is noisy on uneven surfaces. The noisy measurement can cause an unstable flight of the UAV when using direct force measurement as an input. To resolve this issue, we design a contact-force estimation algorithm of a UAV and desired trajectory generation algorithm. Contact-force is estimated by using the dynamics of a UAV and IMU sensor. In addition, to track the concave wall safely, we propose a heading-angle alignment algorithm. Through the Gazebo simulation, we show that the proposed method is effective compared to the force-sensor-based existing method.
{"title":"Concave Wall Surface Tracking for Aerial Manipulator Using Contact Force Estimation Algorithm","authors":"Seon-il Lee, Hyeon Kim, Uikyum Kim, Hyeonbeom Lee","doi":"10.23919/ICCAS50221.2020.9268298","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268298","url":null,"abstract":"This paper presents a control algorithm of a contact-based inspection for an Unmanned Aerial Vehicle (UAV) manipulator without using a force sensor. The conventional contact-based operation methods for a ground-based manipulator require a force sensor, but the force measurement is noisy on uneven surfaces. The noisy measurement can cause an unstable flight of the UAV when using direct force measurement as an input. To resolve this issue, we design a contact-force estimation algorithm of a UAV and desired trajectory generation algorithm. Contact-force is estimated by using the dynamics of a UAV and IMU sensor. In addition, to track the concave wall safely, we propose a heading-angle alignment algorithm. Through the Gazebo simulation, we show that the proposed method is effective compared to the force-sensor-based existing method.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"14 1","pages":"850-855"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85014194","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268366
Tomoya Ono, Soshi Akasaka, Hiroki Ohara, T. Kanamaru
Recently, ICT equipment has been introduced to classrooms in Japan. Moreover, effectiveness of active learning that engages students as active participants in their learning has been discussed. In order to merge the usefulness of ICT and the effectiveness of active learning, we developed interactive floor interface (IFI) that enables users to see teaching materials displayed on a floor and to control it with their gestures. We also developed an interactive teaching material of wave interference designed for IFI. To confirm the effectiveness of IFI, we gave examinations before and after learning to two groups each of which learns wave interference by using either a usual textbook or IFI. As a result, it was found that average scores of examinations have significantly increased in both groups. Although an average increase of scores for IFI was higher than that of usual textbook, we could not show its significant difference. It is important to improve teaching materials for IFI by giving further interactivity, user-friendliness, and so on.
{"title":"Developing Education Support System using Interactive Floor Interface","authors":"Tomoya Ono, Soshi Akasaka, Hiroki Ohara, T. Kanamaru","doi":"10.23919/ICCAS50221.2020.9268366","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268366","url":null,"abstract":"Recently, ICT equipment has been introduced to classrooms in Japan. Moreover, effectiveness of active learning that engages students as active participants in their learning has been discussed. In order to merge the usefulness of ICT and the effectiveness of active learning, we developed interactive floor interface (IFI) that enables users to see teaching materials displayed on a floor and to control it with their gestures. We also developed an interactive teaching material of wave interference designed for IFI. To confirm the effectiveness of IFI, we gave examinations before and after learning to two groups each of which learns wave interference by using either a usual textbook or IFI. As a result, it was found that average scores of examinations have significantly increased in both groups. Although an average increase of scores for IFI was higher than that of usual textbook, we could not show its significant difference. It is important to improve teaching materials for IFI by giving further interactivity, user-friendliness, and so on.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"98 1","pages":"141-144"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85801655","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268290
Yong Woo Jeong, Hyen Wook Heo, C. Chung
This paper presents a local path planning algorithm for perpendicular parking of an autonomous vehicle. We propose an optimal path planning algorithm based on circle and line combination in the presence of predefined obstacles. We formulate collision avoidance conditions using equality and inequality constraints. We solve a generalized optimization problem with the constraints, which minimizes an arc-length of the parking path. We validate the performance of the perpendicular parking path generation algorithms for various parking spaces in MATLAB environments.
{"title":"A Local Path Planning for Perpendicular Parking in Limited Parking Spaces","authors":"Yong Woo Jeong, Hyen Wook Heo, C. Chung","doi":"10.23919/ICCAS50221.2020.9268290","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268290","url":null,"abstract":"This paper presents a local path planning algorithm for perpendicular parking of an autonomous vehicle. We propose an optimal path planning algorithm based on circle and line combination in the presence of predefined obstacles. We formulate collision avoidance conditions using equality and inequality constraints. We solve a generalized optimization problem with the constraints, which minimizes an arc-length of the parking path. We validate the performance of the perpendicular parking path generation algorithms for various parking spaces in MATLAB environments.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"48 1","pages":"38-40"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87438446","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268313
Jinglan Piao, Hyun-Jun Jo, Jae-Bok Song
To perform a tidy-up task using a robot arm, it is necessary to estimate the pose of various objects. Generally, pose estimation requires the CAD model of an object, but these models of most objects in daily life are not available. Therefore, this study proposes an algorithm to estimate the pose of unknown objects without the help of CAD models. Furthermore, the strategies on grasping and object manipulation for robotic tidy-up are also proposed. First, the geometric and color information are considered together to segment the various objects in the aligned point cloud. Then, the principal component analysis (PCA) scheme is used to estimate the object frame and the placement state. Based on this estimation, the proposed strategies were introduced to make it possible to tidy up the objects. It was shown from various experiments that the proposed method can be effectively applied to the robotic tidy-up tasks.
{"title":"Robotic Tidy-up Tasks using Point Cloud-based Pose Estimation","authors":"Jinglan Piao, Hyun-Jun Jo, Jae-Bok Song","doi":"10.23919/ICCAS50221.2020.9268313","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268313","url":null,"abstract":"To perform a tidy-up task using a robot arm, it is necessary to estimate the pose of various objects. Generally, pose estimation requires the CAD model of an object, but these models of most objects in daily life are not available. Therefore, this study proposes an algorithm to estimate the pose of unknown objects without the help of CAD models. Furthermore, the strategies on grasping and object manipulation for robotic tidy-up are also proposed. First, the geometric and color information are considered together to segment the various objects in the aligned point cloud. Then, the principal component analysis (PCA) scheme is used to estimate the object frame and the placement state. Based on this estimation, the proposed strategies were introduced to make it possible to tidy up the objects. It was shown from various experiments that the proposed method can be effectively applied to the robotic tidy-up tasks.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"33 4 1","pages":"316-319"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80236683","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268439
Jongpyo Jun, Jaehwi Seol, H. Son
The application of robots to the agricultural sector has significantly improved productivity in the field. Studies investigating various forms of end-effectors are being carried out constantly, especially in relation to the harvests of fruits that require a lot of labor. However, the majority of studies focus on stably cutting the pedicel after accurately recognizing the target, while there is relatively little interest in the method and process of transferring agricultural produce after the harvest. The development of a dedicated end-effector is essential to reduce the duration of the entire procedure, which is a significant goal in harvest-related research. This entails comprehensive consideration of the transfer process. To address this issue, in this paper, we propose an integrated end-effector, which enables almost simultaneous execution of harvesting and transfer of tomatoes. Further, a modular mechanism is introduced to improve the performance of harvesting robots, and future directions of research are outlined.
{"title":"A Novel End-effector for Tomato Harvesting Robot: Mechanism and Evaluation","authors":"Jongpyo Jun, Jaehwi Seol, H. Son","doi":"10.23919/ICCAS50221.2020.9268439","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268439","url":null,"abstract":"The application of robots to the agricultural sector has significantly improved productivity in the field. Studies investigating various forms of end-effectors are being carried out constantly, especially in relation to the harvests of fruits that require a lot of labor. However, the majority of studies focus on stably cutting the pedicel after accurately recognizing the target, while there is relatively little interest in the method and process of transferring agricultural produce after the harvest. The development of a dedicated end-effector is essential to reduce the duration of the entire procedure, which is a significant goal in harvest-related research. This entails comprehensive consideration of the transfer process. To address this issue, in this paper, we propose an integrated end-effector, which enables almost simultaneous execution of harvesting and transfer of tomatoes. Further, a modular mechanism is introduced to improve the performance of harvesting robots, and future directions of research are outlined.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"7 1","pages":"118-121"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89573443","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 : 2020-10-13DOI: 10.23919/ICCAS50221.2020.9268332
K. Perera, D. Liyanage, P. V. K. Asanka, D. N. Rajapaksha, Y. Amarasinghe, R. Gopura, S. A. Nanayakkara
The use of robotic platforms for operations in harsh and high risk environments such as mining sites has become more popular with the advancements within the field of mobile robotics. In this paper, the designing of a hybrid locomotive mobile platform that utilizes both tracked locomotion and legged-like movements to achieve mobility is presented. The proposed track-leg mechanism and power transmission methodology are discussed in detail along with the overall design framework. The functionality validation and analysis of the legged locomotion was done in a simulation environment using MSC ADAMS with open-loop track-leg velocity control. The designed mobile robot demonstrated the ability to traverse a flat terrain and overcome a semi-cylindrical obstacle without tipping over in the simulations for the selected gait. The mobile robot also consists of 3 degrees of freedom (DOF) robotic arm which facilitates total human replacement by enabling the ability to perform any sample collecting, inspecting, pick and place tasks. The design of the robotic arm is also presented within this paper.
{"title":"Design of a Track-Leg Hybrid Locomotive Mobile Robot","authors":"K. Perera, D. Liyanage, P. V. K. Asanka, D. N. Rajapaksha, Y. Amarasinghe, R. Gopura, S. A. Nanayakkara","doi":"10.23919/ICCAS50221.2020.9268332","DOIUrl":"https://doi.org/10.23919/ICCAS50221.2020.9268332","url":null,"abstract":"The use of robotic platforms for operations in harsh and high risk environments such as mining sites has become more popular with the advancements within the field of mobile robotics. In this paper, the designing of a hybrid locomotive mobile platform that utilizes both tracked locomotion and legged-like movements to achieve mobility is presented. The proposed track-leg mechanism and power transmission methodology are discussed in detail along with the overall design framework. The functionality validation and analysis of the legged locomotion was done in a simulation environment using MSC ADAMS with open-loop track-leg velocity control. The designed mobile robot demonstrated the ability to traverse a flat terrain and overcome a semi-cylindrical obstacle without tipping over in the simulations for the selected gait. The mobile robot also consists of 3 degrees of freedom (DOF) robotic arm which facilitates total human replacement by enabling the ability to perform any sample collecting, inspecting, pick and place tasks. The design of the robotic arm is also presented within this paper.","PeriodicalId":6732,"journal":{"name":"2020 20th International Conference on Control, Automation and Systems (ICCAS)","volume":"1 1","pages":"274-279"},"PeriodicalIF":0.0,"publicationDate":"2020-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90238151","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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