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

Attar, Hani; Abu-Jassar, Amer Tahseen; Yevsieiev, V.; Lyashenko, V.; Nevliudov, I.; Luhach, Ashish Kr.

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

dc.contributor.author	Attar, Hani
dc.contributor.author	Abu-Jassar, Amer Tahseen
dc.contributor.author	Yevsieiev, V.
dc.contributor.author	Lyashenko, V.
dc.contributor.author	Nevliudov, I.
dc.contributor.author	Luhach, Ashish Kr.
dc.date.accessioned	2022-01-08T09:41:22Z
dc.date.available	2022-01-08T09:41:22Z
dc.date.issued	2022
dc.description.abstract	Research 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.citation	Attar 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.issn	1687-5265
dc.identifier.uri	https://openarchive.nure.ua/handle/document/19035
dc.language.iso	en	uk_UA
dc.publisher	Hindawi	uk_UA
dc.subject	Robotics	uk_UA
dc.subject	Geometrical Family Caterpillar	uk_UA
dc.title	Zoomorphic Mobile Robot Development for Vertical Movement Based on the Geometrical Family Caterpillar	uk_UA
dc.type	Article	uk_UA
dspace.entity.type	Publication