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On Graph Representation and Ground Surface Profiles while a Shrimp-Designed Robot is Traveling on Unexpected Landscapes

Ahmad Y. B. Hashim
Department of Robotics and Automation, Faculty of Manufacturing Engineering, Universiti Teknikal Malaysia Melaka, 76100 Durian Tnggal, Melaka, Malaysia

Abstract—Mobile robots with shrimp design are known to be dynamic when climbing or working under rugged terrains. Due to its sturdiness, robots with shrimp configuration will be able to perform difficult tasks. This work reproduced and modified a mobile robot with shrimp structural design. A typical shrimp robot has six wheels. Its structural complexity results in a perception that it is a hard-to-build robot. For straightforwardness, our shrimp rover is represented by a graph. It has a platform module attached to two forks, at front and rear, respectively. The forks have additional suspensions, whereas the platform depends on the suspension provided by the wheels. It is known that gyroscopic effects on the rover are due to ground surface conditions. The gyroscopic effects may be analyzed by computing the joint angles and change in heights during a rover maneuver. The products of joint angle and change in height represent membership functions, which values are within certain limits. A set of decision rules were developed that define an instantaneous behavior of the robot while traveling.

Index Terms—mobile robot, ground surface profile, shrimp configuration

Cite: Ahmad Y. B. Hashim, "On Graph Representation and Ground Surface Profiles while a Shrimp-Designed Robot is Traveling on Unexpected Landscapes," Jounal of Automation and Control Engineering, Vol. 2, No. 3, pp. 209-213, September, 2014. doi: 10.12720/joace.2.3.209-213
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