Omnidirectional All-Terrain Screw-Driven Robot Design, Modeling, and Application in Humanitarian Demining

Opeyemi Oladunjoye; Christina Maffattone; Julia Al-Nawal; Sofia Fasullo; Eva Greenspan; Jeffrey Koller; Alex Nikulin; Timothy De Smet; Garrett M. Clayton

doi:10.1016/j.ifacol.2022.10.480

Omnidirectional All-Terrain Screw-Driven Robot Design, Modeling, and Application in Humanitarian Demining

Opeyemi Oladunjoye
, Christina Maffattone
, Julia Al-Nawal
, Sofia Fasullo
, Eva Greenspan
, Jeffrey Koller
, Alex Nikulin
, Timothy De Smet
, Garrett M. Clayton

Geology

Binghamton University

Villanova University
State University of New York Binghamton University

Research output: Contribution to journal › Conference article › peer-review

8 Scopus citations

Abstract

In this paper, we present a screw-propelled omnidirectional mobile robot with the ability to navigate on a variety of terrains. The robot design, kinematic and inverse-kinematic models, and testing on different terrains are presented. In the end it was determined that the robot could operate on most terrains in any direction. To show the potential for the robot in field applications, the robot was used in a simulated humanitarian demining scenario. The robot coupled with a mine detection sensor showed promise for this use.

Original language	English
Pages (from-to)	7-12
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	55
Issue number	27
DOIs	https://doi.org/10.1016/j.ifacol.2022.10.480
State	Published - Sep 1 2022
Event	9th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2022 - Los Angeles, United States Duration: Sep 6 2022 → Sep 9 2022

Keywords

All-Terrain
Cambodia
Humanitarian Demining
MFAM
Mobile Robot
Omnidrectional
Screw-Bot

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10.1016/j.ifacol.2022.10.480

Cite this

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title = "Omnidirectional All-Terrain Screw-Driven Robot Design, Modeling, and Application in Humanitarian Demining",

abstract = "In this paper, we present a screw-propelled omnidirectional mobile robot with the ability to navigate on a variety of terrains. The robot design, kinematic and inverse-kinematic models, and testing on different terrains are presented. In the end it was determined that the robot could operate on most terrains in any direction. To show the potential for the robot in field applications, the robot was used in a simulated humanitarian demining scenario. The robot coupled with a mine detection sensor showed promise for this use.",

keywords = "All-Terrain, Cambodia, Humanitarian Demining, MFAM, Mobile Robot, Omnidrectional, Screw-Bot",

author = "Opeyemi Oladunjoye and Christina Maffattone and Julia Al-Nawal and Sofia Fasullo and Eva Greenspan and Jeffrey Koller and Alex Nikulin and \{De Smet\}, Timothy and Clayton, \{Garrett M.\}",

year = "2022",

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doi = "10.1016/j.ifacol.2022.10.480",

language = "English",

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TY - JOUR

T1 - Omnidirectional All-Terrain Screw-Driven Robot Design, Modeling, and Application in Humanitarian Demining

AU - Oladunjoye, Opeyemi

AU - Maffattone, Christina

AU - Al-Nawal, Julia

AU - Fasullo, Sofia

AU - Greenspan, Eva

AU - Koller, Jeffrey

AU - Nikulin, Alex

AU - De Smet, Timothy

AU - Clayton, Garrett M.

PY - 2022/9/1

Y1 - 2022/9/1

N2 - In this paper, we present a screw-propelled omnidirectional mobile robot with the ability to navigate on a variety of terrains. The robot design, kinematic and inverse-kinematic models, and testing on different terrains are presented. In the end it was determined that the robot could operate on most terrains in any direction. To show the potential for the robot in field applications, the robot was used in a simulated humanitarian demining scenario. The robot coupled with a mine detection sensor showed promise for this use.

AB - In this paper, we present a screw-propelled omnidirectional mobile robot with the ability to navigate on a variety of terrains. The robot design, kinematic and inverse-kinematic models, and testing on different terrains are presented. In the end it was determined that the robot could operate on most terrains in any direction. To show the potential for the robot in field applications, the robot was used in a simulated humanitarian demining scenario. The robot coupled with a mine detection sensor showed promise for this use.

KW - All-Terrain

KW - Cambodia

KW - Humanitarian Demining

KW - MFAM

KW - Mobile Robot

KW - Omnidrectional

KW - Screw-Bot

UR - https://www.scopus.com/pages/publications/85145665553

U2 - 10.1016/j.ifacol.2022.10.480

DO - 10.1016/j.ifacol.2022.10.480

M3 - Conference article

SN - 2405-8971

VL - 55

SP - 7

EP - 12

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 27

T2 - 9th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2022

Y2 - 6 September 2022 through 9 September 2022

ER -

Omnidirectional All-Terrain Screw-Driven Robot Design, Modeling, and Application in Humanitarian Demining

Abstract

Keywords

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