Dr. Oleg Sapunkov Profile

Dr. Oleg Sapunkov

at U.S. Army CCDC Ground Vehicle Systems Ctr.

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Proceedings Article | 30 May 2022 Presentation

Autonomous stabilization of a variable-geometry robotic platform

Timothy Kleinow, Matt Falconer, Sridhar Lakshmanan, Paul Muench, Oleg Sapunkov

Proceedings Volume PC12124, PC1212403 (2022) https://doi.org/10.1117/12.2620768

KEYWORDS: Robotics, Unmanned systems, Control systems

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We consider the challenges discovered while transitioning a robot from teleoperated to autonomous. Our platform is a versatile ground robot with variable geometry, changing its width to allow for either increased stability or entry into smaller gaps. This additional articulation presents problems and opportunities with regard to the stability of the platform. We show that control over the track width allows us to maintain stability through the use of relative maximum allowable parameters. As the narrow track width causes the robot to become less stable, to keep the platform stable the system controlling it needs to respect these maximums.

Proceedings Article | 12 April 2021 Presentation + Paper

uSMET: a lightweight transport robot

Cristian Adam, Timothy Kleinow, Katharina Grenn, Brian Mason, Oleg Sapunkov, Paul Muench, Sridhar Lakshmanan

Proceedings Volume 11758, 1175807 (2021) https://doi.org/10.1117/12.2588020

Read Abstract +

Modern robotic technologies enable the development of semiautonomous ground robots capable of supporting military field operations. Particular attention has been devoted to the robotic mule concept, which aids soldiers in transporting loads over rugged terrain. While existing mule concepts are promising, current configurations are rated for payloads exceeding 1000 lbs., placing them in the size and weight class of small cars and ATVs. These large robots are conspicuous by nature and may not successfully carry out infantry resupply missions in an active combat zone. Conversations with active soldiers, veterans, and military engineers have spotlighted a need for a compact, lightweight, and low-cost robotic mule. This platform would ensure reliable last-mile delivery of critical supplies to predetermined rally points. We present a design for such a compact robotic mule, the μSMET. The proposed design envisions a versatile platform, integrated with the Squad Multipurpose Equipment Transport (SMET), which will ferry supplies to soldiers in combat, evacuate the wounded, and help transport loads on a forced march. The μSMET can adjust its geometry to suit specific payloads and adapt to the terrain, is light enough to be carried by a soldier and sturdy enough to evacuate a soldier, and has adequate off-road mobility to follow an infantry unit. The μSMET’s variable geometry enhances mobility over challenging terrain: its rear wheel assembly can expand to increase its stability or contract to reduce its profile. This publication will describe the design and construction of a prototype μSMET.

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