{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,29]],"date-time":"2025-10-29T03:51:21Z","timestamp":1761709881394,"version":"3.40.5"},"reference-count":29,"publisher":"Wiley","license":[{"start":{"date-parts":[[2021,4,30]],"date-time":"2021-04-30T00:00:00Z","timestamp":1619740800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"The National Key Research and Development Program","award":["2018YFC0507102-02"],"award-info":[{"award-number":["2018YFC0507102-02"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Robotics"],"published-print":{"date-parts":[[2021,4,30]]},"abstract":"<jats:p>To improve the stability of forestry chassis on the slope, a chassis-installed barycenter adjustable mechanism (BAM) is designed, and the control method of the counterweight is proposed to make the chassis barycenter move suitably to achieve the design purpose. The kinematic analysis of BAM is carried out, and the relationship between the translation, rotation, and vertical displacement of counterweight and the chassis barycenter is calculated. Furthermore, the variation curves obtained in Matlab show the barycenter can translate 100\u2009mm, rotate from 0 to 360 degrees, and lower about 180\u2009mm in the vertical direction. Adams is adopted to complete the kinematics simulation of the chassis, indicating that the control method can effectively adjust the barycenter position. Finally, experiments are carried out under slope conditions to analyze chassis stability by testing plantar pressure. The results show that forest chassis using the barycenter control method helps keep stable on the slope of 15 degrees, much better than standard normal chassis.<\/jats:p>","DOI":"10.1155\/2021\/5528746","type":"journal-article","created":{"date-parts":[[2021,4,30]],"date-time":"2021-04-30T22:36:08Z","timestamp":1619822168000},"page":"1-15","source":"Crossref","is-referenced-by-count":1,"title":["A Barycenter Control Method for the Bioinspired Forest Chassis Robot on Slope"],"prefix":"10.1155","volume":"2021","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7292-7006","authenticated-orcid":true,"given":"Tingting","family":"Sui","sequence":"first","affiliation":[{"name":"School of Technology, Beijing Forestry University, Beijing 100083, China"},{"name":"Critical Lab of State Forestry Administration on Forestry Equipment and Automation, Beijing 100083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6249-4531","authenticated-orcid":true,"given":"Jinhao","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Technology, Beijing Forestry University, Beijing 100083, China"},{"name":"Critical Lab of State Forestry Administration on Forestry Equipment and Automation, Beijing 100083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1449-7823","authenticated-orcid":true,"given":"Jianli","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Materials Science and Mechanical Engineering, Beijing Technology and Business University, Beijing 100083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6334-3356","authenticated-orcid":true,"given":"Jianting","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Technology, Beijing Forestry University, Beijing 100083, China"},{"name":"Critical Lab of State Forestry Administration on Forestry Equipment and Automation, Beijing 100083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"issue":"2","key":"1","first-page":"263","article-title":"Design of the chassis for a wheeled forest combined harvester","volume":"35","author":"Z. G. Wei","year":"2010","journal-title":"Journal of Guangxi University (Natural Science Edition)"},{"issue":"Suppl 1","key":"2","first-page":"39","article-title":"Design and experiment of high performance profiling terrain chassis with power train","volume":"28","author":"Y. Wang","year":"2012","journal-title":"Transactions of the Chinese Society of Agricultural Engineering"},{"issue":"5","key":"3","first-page":"1","article-title":"Present status and developing strategy of agricultural mechanization in Southwest China","volume":"19","author":"J. Chen","year":"2003","journal-title":"Transactions of the Chinese Society of Agricultural Engineering"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1016\/j.jterra.2010.06.002"},{"issue":"9","key":"5","first-page":"120","article-title":"Design and optimization of a multi-degree of freedom articulated mechanism","volume":"111","author":"L. Zhou","year":"2009","journal-title":"Modern Manufacturing Engineering"},{"issue":"16","key":"6","first-page":"1","article-title":"Stability analysis and gait planning for luffing wheel-legged robot during intelligent obstacle-surmounting process","volume":"31","author":"Z. Sun","year":"2015","journal-title":"Transactions of the Chinese Society of Agricultural Engineering"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1016\/j.jterra.2014.09.002"},{"issue":"2","key":"8","first-page":"291","article-title":"Stability analysis of hilly power platform with balance rocker suspension","volume":"44","author":"Q. M. Gao","year":"2013","journal-title":"Transactions of the CSAM"},{"first-page":"1436","article-title":"Quadruped robot omni-directional walking on a slope based on static balance","author":"W. Y. Zhang","key":"9"},{"issue":"6","key":"10","first-page":"601","article-title":"Foot trajectory generation and gait control method of a quadruped robot on uneven terrain based on zero moment point theory","volume":"35","author":"L.-p. Wang","year":"2015","journal-title":"Transaction of Beijing Institute of Technology"},{"first-page":"1","article-title":"Control for quadruped robots in trotting on horizontal and slanted surfaces","author":"J. H. Lee","key":"11"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.3390\/app9071508"},{"first-page":"3307","article-title":"Design principles for highly efficient quadrupeds and implementation on the MIT Cheetah robot","author":"S. Seok","key":"13"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1016\/s0166-4328(97)00101-0"},{"issue":"7380","key":"15","doi-asserted-by":"crossref","DOI":"10.1038\/nature10797","article-title":"Biomechanics: leaping lizards and dinosaurs","volume":"481","author":"M. R. Alexander","year":"2012","journal-title":"Nature"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1038\/nature10710"},{"first-page":"25","article-title":"A lizard-inspired active tail enables rapid maneuvers and dynamic stabilization in a terrestrial robot","author":"E. Chang-Siu","key":"17"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2015.05.005"},{"issue":"3","key":"19","doi-asserted-by":"crossref","first-page":"395","DOI":"10.1016\/S1672-6529(14)60131-1","article-title":"Rolling stability enhancement via balancing tail for a water-running robot","volume":"12","author":"G. K. Hyun","year":"2015","journal-title":"Journal of Bionic Engineering"},{"issue":"4","key":"20","first-page":"214","article-title":"Mechanism design and functional simulation of a new bionic cheetah robot","author":"J. Tao","year":"2015","journal-title":"Machinery Design & Manufacture"},{"volume-title":"A Beast the Color of Winter","year":"1983","author":"D. H. Chadwick","key":"21"},{"volume-title":"Life on the Rocks: A Portrait of the American Mountain Goat","year":"2014","author":"B. L. Smith","key":"22"},{"issue":"10","key":"23","doi-asserted-by":"crossref","first-page":"2368","DOI":"10.1139\/z89-335","article-title":"Travel in alpine terrain: energy expenditures for locomotion by mountain goats and bighorn sheep","volume":"67","author":"T. Hobbs","year":"1989","journal-title":"Canadian Journal of Zoology"},{"key":"24","doi-asserted-by":"publisher","DOI":"10.1016\/j.zool.2016.06.001"},{"issue":"3","key":"25","first-page":"40","article-title":"Gait analysis of goat at different slopes and study on biomimetic walking mechanism","volume":"9","author":"F. Zhang","year":"2016","journal-title":"International Journal of Agricultural and Biological Engineering"},{"issue":"2","key":"26","first-page":"65","article-title":"Moisture absorption properties of biomimetic laminated boards made from cross-linking starch\/maize stalk fiber","volume":"8","author":"F. Zhang","year":"2015","journal-title":"International Journal of Agricultural and Biological Engineering"},{"volume-title":"Vehicle Comprising Jib and Counterweight Formed by Wheel and Motor","year":"2012","author":"F. J. Mosterman","key":"27"},{"article-title":"Normalized energy stability margin and its contour of walking vehicles on rough terrain","author":"S. Hirose","key":"28","doi-asserted-by":"crossref","DOI":"10.1109\/ROBOT.2001.932550"},{"key":"29","doi-asserted-by":"publisher","DOI":"10.3390\/app10041491"}],"container-title":["Journal of Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2021\/5528746.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2021\/5528746.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2021\/5528746.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,4,30]],"date-time":"2021-04-30T22:36:49Z","timestamp":1619822209000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/jr\/2021\/5528746\/"}},"subtitle":[],"editor":[{"given":"Oscar","family":"Reinoso","sequence":"additional","affiliation":[],"role":[{"role":"editor","vocabulary":"crossref"}]}],"short-title":[],"issued":{"date-parts":[[2021,4,30]]},"references-count":29,"alternative-id":["5528746","5528746"],"URL":"https:\/\/doi.org\/10.1155\/2021\/5528746","relation":{},"ISSN":["1687-9619","1687-9600"],"issn-type":[{"type":"electronic","value":"1687-9619"},{"type":"print","value":"1687-9600"}],"subject":[],"published":{"date-parts":[[2021,4,30]]}}}