Abstract
In the mobile platforms such as legged platforms and wheeled platforms, there is a mass drift due to the acceleration and deceleration. This mass drift induces a rotating pitch angle based on an axis of mass center. In the mobile platforms, if the front or rear driving axis such as wheels and legs axis does not contact with the terrain, then the driving power does not contribute to get the traction forces with the low efficiency. Further, if the mass drifts and induced pitch angles are bigger than a certain threshold value, then there is the pitch-over phenomenon with the mechanical damages to mobile platforms. In order to reduce the mass drifts of mobile platform, in this paper, we describe mechanical analysis of mass drifts due to the acceleration and deceleration of mobile platforms. Firstly, we describe the analysis of mass drift amounts due to acceleration and deceleration. Then, we propose the design guides of mobile platform for reducing the mass drift amounts.
| Original language | English |
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| Title of host publication | 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 255-257 |
| Number of pages | 3 |
| ISBN (Electronic) | 9781509030552 |
| DOIs | |
| State | Published - 25 Jul 2017 |
| Event | 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 - Jeju, Korea, Republic of Duration: 28 Jun 2017 → 1 Jul 2017 |
Publication series
| Name | 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 |
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Conference
| Conference | 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 |
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| Country/Territory | Korea, Republic of |
| City | Jeju |
| Period | 28/06/17 → 1/07/17 |
Bibliographical note
Publisher Copyright:© 2017 IEEE.
Keywords
- Mass Drift
- Mobile Platform
- Pitch Angle
- Pitch-over