Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 서태원 | - |
dc.date.accessioned | 2022-04-18T06:58:57Z | - |
dc.date.available | 2022-04-18T06:58:57Z | - |
dc.date.issued | 2020-08 | - |
dc.identifier.citation | IEEE-ASME TRANSACTIONS ON MECHATRONICS, v. 25, no. 4, page. 1980-1989 | en_US |
dc.identifier.issn | 1083-4435 | - |
dc.identifier.issn | 1941-014X | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/9086059 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/170094 | - |
dc.description.abstract | This article introduces a new mobile robot with angled spoke-based wheels (ASWs). An ASW is designed by analyzing the combination of the assembling angle with the spokes and the assembling angle with the wheel shaft. It has a specific trajectory in which the spokes are perpendicular to and parallel to the ground simultaneously. Therefore, this wheel is in contact with the ground similar to a conventional wheel, but the wheel trajectory does not exceed the height of the spoke length. Therefore, the robot offers an advantage in that various devices can be freely installed on its upper part. Owing to the geometrical features of the wheel, the wheel shaft is assembled at an angle of 45 degrees on the chassis, and 90 degrees-bevel gears are used to maximize space efficiency. The robot is 85-mm long and weighs 208 g. Using the proposed spoke wheel, the robot can travel on carpet at a sustained speed of 18 body-lengths per second. With regard to overcoming obstacles, the robot can overcome a height of 0.7 times the spoke length. Moreover, it can climb continuous obstacles having a staircase angle of 37.5 degrees and overcome an irregular shape and an arbitrarily formed height of obstacles like a tangled rope. It was also confirmed that the robot could carry the same weight as its own without any significant drop in speed. | en_US |
dc.description.sponsorship | This research was supported by the National Research Foundation of Korea (NRF) Grant funded by the Ministry of Science and ICT for First-Mover Program for Accelerating Disruptive Technology Development. [NRF-2018M3C1B9088328 (2018M3C1B9088331, 2018M3C1B9088332)]. | en_US |
dc.language.iso | en | en_US |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | en_US |
dc.subject | Angled spoke-based wheel | en_US |
dc.subject | bevel gear | en_US |
dc.subject | continuous obstacle | en_US |
dc.subject | obstacle overcoming | en_US |
dc.subject | tilted driving shaft | en_US |
dc.subject | wheel posture | en_US |
dc.subject | wheel trajectory | en_US |
dc.title | Novel Angled Spoke-Based Mobile Robot Design for Agile Locomotion With Obstacle-Overcoming Capability | en_US |
dc.type | Article | en_US |
dc.relation.no | 4 | - |
dc.relation.volume | 25 | - |
dc.identifier.doi | 10.1109/TMECH.2020.2992302 | - |
dc.relation.page | 1980-1989 | - |
dc.relation.journal | IEEE-ASME TRANSACTIONS ON MECHATRONICS | - |
dc.contributor.googleauthor | Lee, Youngjoo | - |
dc.contributor.googleauthor | Yoon, Dupyo | - |
dc.contributor.googleauthor | Oh, Joohyun | - |
dc.contributor.googleauthor | Kim, Hwa Soo | - |
dc.contributor.googleauthor | Seo, TaeWon | - |
dc.relation.code | 2020053774 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | SCHOOL OF MECHANICAL ENGINEERING | - |
dc.identifier.pid | taewonseo | - |
dc.identifier.orcid | https://orcid.org/0000-0001-9447-7675 | - |
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