Mobile manipulators operating in field environments will be required to apply large forces, or manipulate large loads, and to perform such tasks on uneven terrain which may cause the system to approach, or reach, a dangerous tipover instability. To avoid tipover in an automatic system, or to provide a human operator with an indication of proximity to tipover, it is necessary to define a measure...

In this paper, we present a framework for generating smooth and stable trajectories for wheeled mobile robots moving on uneven terrains. Instead of relying on static stability measures, the paper incorporates velocity and acceleration based constraints like no-slip and permanent wheel ground contact conditions in the planning framework. The paper solves this complicated problem in a computation...

Ground penetrating radar (GPR) systems are sensors that able to acquire underground images by scanning the surface of soil/pavement under investigation. Usually, a GPR system records its own position along scan line, using mechanical odometer, i.e., rolling wheel in contact with ground. This simple and cheap solution can be ineffective on uneven terrains. In this paper, positioning based an int...

Wepropose a novel state estimator for legged robots, STEP, achieved through preintegrated foot velocity factor. In the factor, usual non-slip assumption is not adopted. Instead, end effector becomes observable by exploiting body speed obtained from stereo camera. other words, effector’s pose can be estimated. Another advantage of our approach that it eliminates necessity contact d...

Mechanical vibrations due to uneven terrains can significantly impact the accuracy of computer vision systems installed on any moving vehicle. In this study, we investigate mechanical induced using artificial bumps in a controlled environment performance smart an Electrical powered Wheelchair (EPW). Besides, user’s health and comfort is quantified vertical acceleration Inertial Measurement Unit...

Although it is clear that walking over different irregular terrain is associated with altered biomechanics, there is little understanding of how we quickly adapt to unexpected variations in terrain. This study aims to investigate which adaptive strategies humans adopt when performing an unanticipated step on an irregular surface, specifically a small bump. Nine healthy male participants walked ...