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

Noverina Alfiany; Nur Hamid; Grafika Jati; Muhammad Anwar  Ma'sum; Wisnu Jatmiko

doi:10.1109/ACIRS.2019.8935966

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

Noverina Alfiany, Nur Hamid, Grafika Jati, Muhammad Anwar Ma'sum, Wisnu Jatmiko

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

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 language	English
Title of host publication	2019 4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	17-21
Number of pages	5
ISBN (Electronic)	9781728122298
DOIs	https://doi.org/10.1109/ACIRS.2019.8935966
Publication status	Published - Jul 2019
Event	4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019 - Nagoya, Japan Duration: 13 Jul 2019 → 15 Jul 2019

Publication series

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

Conference

Conference	4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019
Country/Territory	Japan
City	Nagoya
Period	13/07/19 → 15/07/19

Keywords

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

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/ACIRS.2019.8935966

Cite this

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). Article 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

@inproceedings{554dccd2cb204900ab6d049cb845e21c,

title = "Kinematics and Dynamics Analysis of an Autonomous Three-wheeled Bicycle Modeling",

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).",

keywords = "autonomous, dynamics, kinematics, pedicab, robot operating system (ROS), three-wheeled bicycle",

author = "Noverina Alfiany and Nur Hamid and Grafika Jati and Ma'sum, {Muhammad Anwar} and Wisnu Jatmiko",

year = "2019",

month = jul,

doi = "10.1109/ACIRS.2019.8935966",

language = "English",

series = "2019 4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "17--21",

booktitle = "2019 4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019",

address = "United States",

note = "4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019 ; Conference date: 13-07-2019 Through 15-07-2019",

}

Alfiany, N, Hamid, N, Jati, G, Ma'sum, MA & 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., 8935966, 2019 4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019, Institute of Electrical and Electronics Engineers Inc., pp. 17-21, 4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019, Nagoya, Japan, 13/07/19. https://doi.org/10.1109/ACIRS.2019.8935966

Kinematics and Dynamics Analysis of an Autonomous Three-wheeled Bicycle Modeling. / Alfiany, Noverina; Hamid, Nur; Jati, Grafika et al.
2019 4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 17-21 8935966 (2019 4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Kinematics and Dynamics Analysis of an Autonomous Three-wheeled Bicycle Modeling

AU - Alfiany, Noverina

AU - Hamid, Nur

AU - Jati, Grafika

AU - Ma'sum, Muhammad Anwar

AU - Jatmiko, Wisnu

PY - 2019/7

Y1 - 2019/7

N2 - 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).

AB - 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).

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KW - robot operating system (ROS)

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M3 - Conference contribution

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

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

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

Abstract

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Keywords

UN SDGs

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