Luca Bruzzone

Epi.q‐TG: mobile robot for surveillance

Purpose – The purpose of this paper is to describe the development of a robot for surveillance able to move in structured and unstructured environments and able to overcome obstacles with high energetic efficiency.Design/methodology/approach – The proposed Epi.q‐TG hybrid robot combines wheeled and legged locomotion. It is equipped with four three‐wheeled locomotion units; traction is generated by the two forecarriage units, while the two rear ones have same geometry but are idle. Each front unit is actuated by a single motor with the interposition of an epicyclical gearing, accurately designed in order to suitably switch between wheeled and legged motion. The robot changes locomotion mode from rolling on wheels (advancing mode) to stepping on legs (automatic climbing mode) according to local friction and dynamic conditions.Findings – The experimental results confirm the design objectives. In advancing mode, the robot behaves like a four‐wheeled vehicle, with high speed and energetic efficiency. In automa...

Epi.Q Mobile Robots Family

The family of Epi.q mobile robots is based on a three-wheeled locomotion unit which is capable of switching between wheeled locomotion and legged locomotion depending on the dynamic conditions, without control intervention. This feature allows to conjugate the benefits of both the locomotion modes: high speed and energetic efficiency on even terrains with the wheeled locomotion, and mobility performance on uneven terrains and in presence of obstacles with the legged locomotion. Two prototypes of the Epi.q family have been already realized and tested, with positive results; a further evolution with four actuated locomotion units (instead of two active and two idle units) is currently under construction. The present paper outlines the evolution of the family of Epi.q mobile robots and proposes several possible architectural evolutions exploiting a modular approach; this approach could be used also to simplify the design phase, obtaining different mobile robots from a limited set of base modules.Copyright

Epi.q Robots

Over the last few years there have been great developments and improvements in the mobile robotics field, oriented to replace human operators especially in dangerous tasks, such as mine-sweeping operations, rescuing after earthquakes or other catastrophic events, fire-fighting operations, working inside nuclear power stations and exploration of unknown environments. Different locomotion systems have been developed to enable robots to move flexibly and reliably across various ground surfaces. Usually, mobile robots are wheeled, tracked and legged ones, even if there are also robots that swim, jump, slither and so on. Wheeled robots are robots that use wheels for moving; they can move fast with low energy consumption, have few degrees of freedom and are easy to control, but they cannot climb great obstacles (in comparison with robot dimensions) and can lose grip on uneven terrain. Tracked robots are robots that use tracks for moving; they are easily controllable, also on uneven terrain, but are slower than wheeled ones and have higher energy consumption. Legged robots are robots that use legs for moving; they possess great mobility and this makes them suitable for applications on uneven terrain; conversely, they are relatively slow, require much energy and their structure needs several actuators, with increased control complexity. Of course each robot class has advantages and drawbacks, thus scientists designed new robots, trying to comprise the advantages of different robot classes and, at the same time, to reduce the disadvantages: these robots are called Hybrid robots.

Advances on Theory and Practice of Robots and Manipulators

This paper presents the functional design and the related detailed mechanical design embodiment of UGV Epi.q-Mod, which is a new version of the Unmanned ground vehicles Epi.q. UGVs Epi.q are mobile robots used for surveillance/reconnaissance/transport operations and they are based on a hybrid wheeled-legged locomotion system. The locomotion system consists of three-wheeled units with epicyclical mechanism capable of switching between wheeled and legged locomotion even without an active control intervention, depending on the dynamic condition of the vehicle. The main characteristic of this robot is the application of the modular approach that allows to generate different architectures based on functional requirements

UGV Epi.q-Mod

This paper presents the functional design and the related detailed mechanical design embodiment of UGV Epi.q-Mod, which is a new version of the Unmanned ground vehicles Epi.q. UGVs Epi.q are mobile robots used for surveillance/reconnaissance/transport operations and they are based on a hybrid wheeled-legged locomotion system. The locomotion system consists of three-wheeled units with epicyclical mechanism capable of switching between wheeled and legged locomotion even without an active control intervention, depending on the dynamic condition of the vehicle. The main characteristic of this robot is the application of the modular approach that allows to generate different architectures based on functional requirements.

Constructive Redesign of a Modular Metamorphic Microgripper

The paper presents the constructive re-design of a modular microgripper equipped with metamorphic fingertips. The experimental tests on the first prototype of the microgripper has shown that the adoption of the metamorphic fingertips permits to increase remarkably the grasping efficiency; nevertheless, the tests have highlighted some operative drawbacks. The proposed constructive re-design is oriented to increase the reliability and to make easier the tuning and maintenance operations.