Kinematics and Dynamics Analysis of an Autonomous Three-wheeled Bicycle Modeling

Noverina Alfiany, Nur Hamid, Grafika Jati, M. Anwar Ma'Sum, Wisnu Jatmiko

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

Abstract

Three-wheeled bicycle, also known as pedicab, is well known as an eco-friendly transportation in Indonesia. The pedicab is usually operated by utilizing human power to transport objects. It also has high mobility in urban areas which is useful for areas with a heavy traffic. In the future, pedicab which operated by human power can be replaced by autonomous controller. This study aims to develop a model of autonomous pedicab. The kinematics and dynamics model of the pedicab motion were developed and analyzed. Furthermore, autonomous pedicab model is built in the simulated environment. Main components, i.e. sensor, module processing, and engine were added to the conventional pedicab. Initial design of the autonomous pedicab is simulated in Robot Operating System (ROS).

Original languageEnglish
Title of host publication2019 4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages17-21
Number of pages5
ISBN (Electronic)9781728122298
DOIs
Publication statusPublished - Jul 2019
Event4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019 - Nagoya, Japan
Duration: 13 Jul 201915 Jul 2019

Publication series

Name2019 4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019

Conference

Conference4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019
CountryJapan
CityNagoya
Period13/07/1915/07/19

Keywords

  • autonomous
  • dynamics
  • kinematics
  • pedicab
  • robot operating system (ROS)
  • three-wheeled bicycle

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    Alfiany, N., Hamid, N., Jati, G., Ma'Sum, M. A., & Jatmiko, W. (2019). Kinematics and Dynamics Analysis of an Autonomous Three-wheeled Bicycle Modeling. In 2019 4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019 (pp. 17-21). [8935966] (2019 4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACIRS.2019.8935966