Публікація:
Zoomorphic Mobile Robot Development for Vertical Movement Based on the Geometrical Family Caterpillar

dc.contributor.authorAttar, Hani
dc.contributor.authorAbu-Jassar, Amer Tahseen
dc.contributor.authorYevsieiev, V.
dc.contributor.authorLyashenko, V.
dc.contributor.authorNevliudov, I.
dc.contributor.authorLuhach, Ashish Kr.
dc.date.accessioned2022-01-08T09:41:22Z
dc.date.available2022-01-08T09:41:22Z
dc.date.issued2022
dc.description.abstractResearch in robotics is one of the promising areas in mobile robot development, which is planned to be implemented in extreme dangerous conditions of areas explored by humans. This article aims at developing and improving a prototype of zoomorphic mobile robots that are designed to repeat the existing biological objects in nature. The authors performed a detailed analysis on the structure and dynamics of the geometrical family caterpillar movement, which is passed on a practical design implemented to perform the dynamic movement on uneven vertical surfaces. Based on the obtained analysis, the design and kinematic scheme of the movement is developed. Also, the structural control scheme via the Internet technologies that allow carrying out remote control is presented in this paper, considering the dangerous mobile robot work zones. To test the recommended solutions, the authors developed detailed 3D printed models of the mobile robot constructions for the implemented hardware. The model of the mobile robot is constructed, and the control system with examples of the user program code implementations is performed. Several experiments were performed, which showed the efficiency of the achieved mobile robot for solving problems of vertical movement on uneven metal surfaces. Moreover, the obtained slow motion of the designed robot proves that the simulated robot behaves similarly to the natural behavior of caterpillar movement.uk_UA
dc.identifier.citationAttar H., Abu-Jassar A. T., Yevsieiev V., Lyashenko V., Nevliudov I., Luhach A. Kr. Zoomorphic Mobile Robot Development for Vertical Movement Based on the Geometrical Family Caterpillar // Computational Intelligence and Neuroscience. – 2022. – Vol. 2022. – Article ID 3046116. – pp. 1-19.uk_UA
dc.identifier.issn1687-5265
dc.identifier.urihttps://openarchive.nure.ua/handle/document/19035
dc.language.isoenuk_UA
dc.publisherHindawiuk_UA
dc.subjectRoboticsuk_UA
dc.subjectGeometrical Family Caterpillaruk_UA
dc.titleZoomorphic Mobile Robot Development for Vertical Movement Based on the Geometrical Family Caterpillaruk_UA
dc.typeArticleuk_UA
dspace.entity.typePublication

Файли

Оригінальний пакет
Зараз показано 1 - 1 з 1
Завантаження...
Зображення мініатюри
Назва:
LyasEvNev.pdf
Розмір:
6.58 MB
Формат:
Adobe Portable Document Format
Ліцензійний пакет
Зараз показано 1 - 1 з 1
Немає доступних мініатюр
Назва:
license.txt
Розмір:
9.42 KB
Формат:
Item-specific license agreed upon to submission
Опис: