Collisions need not be dangerous for elliptical and flexible vehicles

Markus Rude, Kiyotaka Hirahara, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

We claim: Collisions need not be harmful for vehicles. If vehicles are designed to be elliptical and flexible, they need not suffer from damage due to collision. Additionally, wheel slippage can be reduced or avoided, if the vehicle's motors are switched off immediately when a collision occurs. This is because an appropriate elliptical shape transforms the repulsive collision force onto the vehicle's surface into a repulsive torque about the vehicle's center of rotation (COR). This torque turns the vehicle away from the collision region, thereby releasing the contact pressure and reducing the collision force. We realized such an elliptical, flexible vehicle by attaching an elliptical, flexible bumper system (TUMBLER.) to our small-sized experimental mobile robot YAMABICO. We confirmed by simulation the slippage-avoiding behavior in vehicle-wall collisions up to a speed of 0.5 m/s. We further confirmed by real vehicle-vehicle collision experiments the damage-avoidance feature up to a speed of 0.75 m/s. A similar behavior for large-sized vehicles and higher velocities (e.g. street vehicles) can be expected.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Intelligent Processing Systems, ICIPS
Place of PublicationPiscataway, NJ, United States
PublisherIEEE
Pages1277-1281
Number of pages5
Volume2
Publication statusPublished - 1998
Externally publishedYes
EventProceedings of the 1997 IEEE International Conference on Intelligent Processing Systems, ICIPS'97. Part 1 (of 2) - Beijing, China
Duration: 1997 Oct 281997 Oct 31

Other

OtherProceedings of the 1997 IEEE International Conference on Intelligent Processing Systems, ICIPS'97. Part 1 (of 2)
CityBeijing, China
Period97/10/2897/10/31

Fingerprint

Torque
Mobile robots
Wheels
Experiments

ASJC Scopus subject areas

  • Computer Science(all)
  • Engineering(all)

Cite this

Rude, M., Hirahara, K., & Yuta, S. (1998). Collisions need not be dangerous for elliptical and flexible vehicles. In Proceedings of the IEEE International Conference on Intelligent Processing Systems, ICIPS (Vol. 2, pp. 1277-1281). Piscataway, NJ, United States: IEEE.

Collisions need not be dangerous for elliptical and flexible vehicles. / Rude, Markus; Hirahara, Kiyotaka; Yuta, Shinichi.

Proceedings of the IEEE International Conference on Intelligent Processing Systems, ICIPS. Vol. 2 Piscataway, NJ, United States : IEEE, 1998. p. 1277-1281.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Rude, M, Hirahara, K & Yuta, S 1998, Collisions need not be dangerous for elliptical and flexible vehicles. in Proceedings of the IEEE International Conference on Intelligent Processing Systems, ICIPS. vol. 2, IEEE, Piscataway, NJ, United States, pp. 1277-1281, Proceedings of the 1997 IEEE International Conference on Intelligent Processing Systems, ICIPS'97. Part 1 (of 2), Beijing, China, 97/10/28.
Rude M, Hirahara K, Yuta S. Collisions need not be dangerous for elliptical and flexible vehicles. In Proceedings of the IEEE International Conference on Intelligent Processing Systems, ICIPS. Vol. 2. Piscataway, NJ, United States: IEEE. 1998. p. 1277-1281
Rude, Markus ; Hirahara, Kiyotaka ; Yuta, Shinichi. / Collisions need not be dangerous for elliptical and flexible vehicles. Proceedings of the IEEE International Conference on Intelligent Processing Systems, ICIPS. Vol. 2 Piscataway, NJ, United States : IEEE, 1998. pp. 1277-1281
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