Loading…
A new configuration of two wheeled vehicles: Towards a more workspace and motion flexibility
This work presents a novel design of two-wheeled vehicles. The proposed design provides the vehicle with more flexibility in terms of the increased degrees of freedom which enable the vehicle to enlarge its working space. The additional translational degree of freedom (DOF), offered by the linear ac...
Saved in:
Main Authors: | , , |
---|---|
Format: | Conference Proceeding |
Language: | English |
Subjects: | |
Citations: | Items that cite this one |
Online Access: | Request full text |
Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
cited_by | cdi_FETCH-LOGICAL-c226t-4561026af47bba243ab3f67a18caf06b1562be98e6968a7a787214d6b006dbaa3 |
---|---|
cites | |
container_end_page | 528 |
container_issue | |
container_start_page | 524 |
container_title | |
container_volume | |
creator | Goher, Khaled Ahmad, Salmiah Tokhi, Osman M |
description | This work presents a novel design of two-wheeled vehicles. The proposed design provides the vehicle with more flexibility in terms of the increased degrees of freedom which enable the vehicle to enlarge its working space. The additional translational degree of freedom (DOF), offered by the linear actuator, assists any attached payload to reach higher levels as and when required. The model of the system mimics the scenario of double inverted pendulum on a moving base. However, it is further complicated due to the addition of a one more (DOF). As adding more degrees of freedom to the system increases the degree of complexity, Lagrangian dynamic formulation is used, due to its relative simplicity, to derive the system dynamics. The new developed configurations is of great importance in various applications including self balance robots, wheelchairs on two wheels, stability analysis of multi segment gaits and multi links cranes etc. In order to maintain the system nonlinear characteristics, the system model is derived with the consideration of the joints friction based on the Coulomb friction model. An investigation is carried out on the impact of the joints damping on the stability of the system. |
doi_str_mv | 10.1109/SYSTEMS.2010.5482350 |
format | conference_proceeding |
fullrecord | <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_5482350</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>5482350</ieee_id><sourcerecordid>5482350</sourcerecordid><originalsourceid>FETCH-LOGICAL-c226t-4561026af47bba243ab3f67a18caf06b1562be98e6968a7a787214d6b006dbaa3</originalsourceid><addsrcrecordid>eNo1kNFKwzAYhSMiqLNPoBd5gc4kTdLUuzHmFCZetIKCMP60f1y0a0ZbrXt7i85zczgfnHNxCLnibMo5y67zl7xYPORTwUaipBGJYkckylLDpZBSGSPlMTn_D-L5lERd985GSSWUlmfkdUYbHGgZGuffPlvofWhocLQfAh02iDVW9As3vqyxu6FFGKCtOgp0G1qkQ2g_uh2USKGpRvRbdjV-e-tr3-8vyImDusPo4BPydLso5nfx6nF5P5-t4lII3cdSac6EBidTa0HIBGzidArclOCYtlxpYTEzqDNtIIXUpILLSlvGdGUBkgm5_Nv1iLjetX4L7X59OCT5ATlQVe4</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>A new configuration of two wheeled vehicles: Towards a more workspace and motion flexibility</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Goher, Khaled ; Ahmad, Salmiah ; Tokhi, Osman M</creator><creatorcontrib>Goher, Khaled ; Ahmad, Salmiah ; Tokhi, Osman M</creatorcontrib><description>This work presents a novel design of two-wheeled vehicles. The proposed design provides the vehicle with more flexibility in terms of the increased degrees of freedom which enable the vehicle to enlarge its working space. The additional translational degree of freedom (DOF), offered by the linear actuator, assists any attached payload to reach higher levels as and when required. The model of the system mimics the scenario of double inverted pendulum on a moving base. However, it is further complicated due to the addition of a one more (DOF). As adding more degrees of freedom to the system increases the degree of complexity, Lagrangian dynamic formulation is used, due to its relative simplicity, to derive the system dynamics. The new developed configurations is of great importance in various applications including self balance robots, wheelchairs on two wheels, stability analysis of multi segment gaits and multi links cranes etc. In order to maintain the system nonlinear characteristics, the system model is derived with the consideration of the joints friction based on the Coulomb friction model. An investigation is carried out on the impact of the joints damping on the stability of the system.</description><identifier>ISBN: 142445882X</identifier><identifier>ISBN: 9781424458820</identifier><identifier>EISBN: 9781424458844</identifier><identifier>EISBN: 1424458846</identifier><identifier>EISBN: 1424458838</identifier><identifier>EISBN: 9781424458837</identifier><identifier>DOI: 10.1109/SYSTEMS.2010.5482350</identifier><language>eng</language><publisher>IEEE</publisher><subject>double inverted pendulum ; Friction ; Hydraulic actuators ; Lagrangian formulation ; Lagrangian functions ; Mobile robots ; modelling and simulation ; Nonlinear dynamical systems ; Payloads ; Space vehicles ; Vehicle dynamics ; Wheelchairs ; Wheels</subject><ispartof>2010 IEEE International Systems Conference, 2010, p.524-528</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c226t-4561026af47bba243ab3f67a18caf06b1562be98e6968a7a787214d6b006dbaa3</citedby></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/5482350$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2058,27925,54920</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/5482350$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Goher, Khaled</creatorcontrib><creatorcontrib>Ahmad, Salmiah</creatorcontrib><creatorcontrib>Tokhi, Osman M</creatorcontrib><title>A new configuration of two wheeled vehicles: Towards a more workspace and motion flexibility</title><title>2010 IEEE International Systems Conference</title><addtitle>SYSTEMS</addtitle><description>This work presents a novel design of two-wheeled vehicles. The proposed design provides the vehicle with more flexibility in terms of the increased degrees of freedom which enable the vehicle to enlarge its working space. The additional translational degree of freedom (DOF), offered by the linear actuator, assists any attached payload to reach higher levels as and when required. The model of the system mimics the scenario of double inverted pendulum on a moving base. However, it is further complicated due to the addition of a one more (DOF). As adding more degrees of freedom to the system increases the degree of complexity, Lagrangian dynamic formulation is used, due to its relative simplicity, to derive the system dynamics. The new developed configurations is of great importance in various applications including self balance robots, wheelchairs on two wheels, stability analysis of multi segment gaits and multi links cranes etc. In order to maintain the system nonlinear characteristics, the system model is derived with the consideration of the joints friction based on the Coulomb friction model. An investigation is carried out on the impact of the joints damping on the stability of the system.</description><subject>double inverted pendulum</subject><subject>Friction</subject><subject>Hydraulic actuators</subject><subject>Lagrangian formulation</subject><subject>Lagrangian functions</subject><subject>Mobile robots</subject><subject>modelling and simulation</subject><subject>Nonlinear dynamical systems</subject><subject>Payloads</subject><subject>Space vehicles</subject><subject>Vehicle dynamics</subject><subject>Wheelchairs</subject><subject>Wheels</subject><isbn>142445882X</isbn><isbn>9781424458820</isbn><isbn>9781424458844</isbn><isbn>1424458846</isbn><isbn>1424458838</isbn><isbn>9781424458837</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2010</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><recordid>eNo1kNFKwzAYhSMiqLNPoBd5gc4kTdLUuzHmFCZetIKCMP60f1y0a0ZbrXt7i85zczgfnHNxCLnibMo5y67zl7xYPORTwUaipBGJYkckylLDpZBSGSPlMTn_D-L5lERd985GSSWUlmfkdUYbHGgZGuffPlvofWhocLQfAh02iDVW9As3vqyxu6FFGKCtOgp0G1qkQ2g_uh2USKGpRvRbdjV-e-tr3-8vyImDusPo4BPydLso5nfx6nF5P5-t4lII3cdSac6EBidTa0HIBGzidArclOCYtlxpYTEzqDNtIIXUpILLSlvGdGUBkgm5_Nv1iLjetX4L7X59OCT5ATlQVe4</recordid><startdate>201004</startdate><enddate>201004</enddate><creator>Goher, Khaled</creator><creator>Ahmad, Salmiah</creator><creator>Tokhi, Osman M</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201004</creationdate><title>A new configuration of two wheeled vehicles: Towards a more workspace and motion flexibility</title><author>Goher, Khaled ; Ahmad, Salmiah ; Tokhi, Osman M</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c226t-4561026af47bba243ab3f67a18caf06b1562be98e6968a7a787214d6b006dbaa3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2010</creationdate><topic>double inverted pendulum</topic><topic>Friction</topic><topic>Hydraulic actuators</topic><topic>Lagrangian formulation</topic><topic>Lagrangian functions</topic><topic>Mobile robots</topic><topic>modelling and simulation</topic><topic>Nonlinear dynamical systems</topic><topic>Payloads</topic><topic>Space vehicles</topic><topic>Vehicle dynamics</topic><topic>Wheelchairs</topic><topic>Wheels</topic><toplevel>online_resources</toplevel><creatorcontrib>Goher, Khaled</creatorcontrib><creatorcontrib>Ahmad, Salmiah</creatorcontrib><creatorcontrib>Tokhi, Osman M</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Xplore (Online service)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Goher, Khaled</au><au>Ahmad, Salmiah</au><au>Tokhi, Osman M</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>A new configuration of two wheeled vehicles: Towards a more workspace and motion flexibility</atitle><btitle>2010 IEEE International Systems Conference</btitle><stitle>SYSTEMS</stitle><date>2010-04</date><risdate>2010</risdate><spage>524</spage><epage>528</epage><pages>524-528</pages><isbn>142445882X</isbn><isbn>9781424458820</isbn><eisbn>9781424458844</eisbn><eisbn>1424458846</eisbn><eisbn>1424458838</eisbn><eisbn>9781424458837</eisbn><abstract>This work presents a novel design of two-wheeled vehicles. The proposed design provides the vehicle with more flexibility in terms of the increased degrees of freedom which enable the vehicle to enlarge its working space. The additional translational degree of freedom (DOF), offered by the linear actuator, assists any attached payload to reach higher levels as and when required. The model of the system mimics the scenario of double inverted pendulum on a moving base. However, it is further complicated due to the addition of a one more (DOF). As adding more degrees of freedom to the system increases the degree of complexity, Lagrangian dynamic formulation is used, due to its relative simplicity, to derive the system dynamics. The new developed configurations is of great importance in various applications including self balance robots, wheelchairs on two wheels, stability analysis of multi segment gaits and multi links cranes etc. In order to maintain the system nonlinear characteristics, the system model is derived with the consideration of the joints friction based on the Coulomb friction model. An investigation is carried out on the impact of the joints damping on the stability of the system.</abstract><pub>IEEE</pub><doi>10.1109/SYSTEMS.2010.5482350</doi><tpages>5</tpages></addata></record> |
fulltext | fulltext_linktorsrc |
identifier | ISBN: 142445882X |
ispartof | 2010 IEEE International Systems Conference, 2010, p.524-528 |
issn | |
language | eng |
recordid | cdi_ieee_primary_5482350 |
source | IEEE Electronic Library (IEL) Conference Proceedings |
subjects | double inverted pendulum Friction Hydraulic actuators Lagrangian formulation Lagrangian functions Mobile robots modelling and simulation Nonlinear dynamical systems Payloads Space vehicles Vehicle dynamics Wheelchairs Wheels |
title | A new configuration of two wheeled vehicles: Towards a more workspace and motion flexibility |
url | http://sfxeu10.hosted.exlibrisgroup.com/loughborough?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-25T15%3A33%3A45IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=A%20new%20configuration%20of%20two%20wheeled%20vehicles:%20Towards%20a%20more%20workspace%20and%20motion%20flexibility&rft.btitle=2010%20IEEE%20International%20Systems%20Conference&rft.au=Goher,%20Khaled&rft.date=2010-04&rft.spage=524&rft.epage=528&rft.pages=524-528&rft.isbn=142445882X&rft.isbn_list=9781424458820&rft_id=info:doi/10.1109/SYSTEMS.2010.5482350&rft.eisbn=9781424458844&rft.eisbn_list=1424458846&rft.eisbn_list=1424458838&rft.eisbn_list=9781424458837&rft_dat=%3Cieee_6IE%3E5482350%3C/ieee_6IE%3E%3Cgrp_id%3Ecdi_FETCH-LOGICAL-c226t-4561026af47bba243ab3f67a18caf06b1562be98e6968a7a787214d6b006dbaa3%3C/grp_id%3E%3Coa%3E%3C/oa%3E%3Curl%3E%3C/url%3E&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=5482350&rfr_iscdi=true |