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Advances in Robotics Research
  Volume 1, Number 1, January 2014 , pages 21-39
DOI: https://doi.org/10.12989/arr.2014.1.1.021
 
 open access

Design and development of an automated all-terrain wheeled robot
Debesh Pradhan, Jishnu Sen and Nirmal Baran Hui

 
Abstract
    Due to the rapid progress in the field of robotics, it is a high time to concentrate on the development of a robot that can manoeuvre in all type of landscapes, ascend and descend stairs and sloping surfaces autonomously. This paper presents details of a prototype robot which can navigate in very rough terrain, ascend and descend staircase as well as sloping surface and cross ditches. The robot is made up of six differentially steered wheels and some passive mechanism, making it suitable to cross long ditches and landscape undulation. Static stability of the developed robot have been carried out analytically and navigation capability of the robot is observed through simulation in different environment, separately. Description of embedded system of the robot has also been presented and experimental validation has been made along with some details on obstacle avoidance. Finally the limitations of the robot have been explored with their possible reasons.
 
Key Words
    All Terrain Robot (ATR); passive compliance mechanism; static force analysis; embedded systems; automation; simulation; real experiments
 
Address
Debesh Pradhan: Fluid Section & Piping Division, MECON Ltd., Ranchi, India
Jishnu Sen: Department of Environmental Control System & Life System, HAL, Banglore, India
Nirmal Baran Hui: Department of Mechanical Engineering, NIT Durgapur, West Bengal, India
 

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