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Trujillo, Juan-Carlos, Rodrigo Munguia, and Antoni Grau. "Aerial Cooperative SLAM for Ground Mobile Robot Path Planning." Engineering Proceedings 6, no. 1 (2021): 65. http://dx.doi.org/10.3390/i3s2021dresden-10164.
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The trajectory planning for ground mobile robots operating in unknown environments can be a difficult task. In many cases, the sensors used for detecting obstacles only provide information about the immediate surroundings, making it difficult to generate an efficient long-term path. For instance, a robot can easily choose to move along a free path that, eventually, will have a dead end. This research is intended to develop a cooperative scheme of visual-based aerial simultaneous localization and mapping (SLAM) that will be used for generating a safe long-term trajectory for a ground mobile robot. The general idea is to take advantage of the high-altitude point of view of aerial robots to obtain spatial information of a wide area of the surroundings of the robot. In this case, it could be seen as having a zenithal picture of the labyrinth to solve the robot’s path. More specifically, the system will generate a wide area spatial map of the ground robot’s obstacles from the images taken by a team of aerial robots equipped with onboard cameras, by means of a cooperative visual-based SLAM method. At the same time, the map will be used to generate a safe path for the ground mobile robot. While the ground robot moves, its onboard sensors will be used to refinine the map and, thus, to avoid obstacles that were not detected from the aerial images.
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Krestovnikov, K. D. "Control Algorithms for a Bidirectional Wireless Power Transmission System at the Redistribution of Energy Resources in a Group of Ground Robots." Mekhatronika, Avtomatizatsiya, Upravlenie 24, no. 9 (2023): 481–88. http://dx.doi.org/10.17587/mau.24.481-488.
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Redistributing energy resources within a group of ground robots allows for an increase in the reachable workspace area and expands its functional capabilities. The use of wireless energy transfer systems for exchanging energy resources between ground robots reduces the requirements for positioning accuracy and enhances the reliability of the robotic system. This study examines control and management algorithms for a bidirectional wireless energy transfer system when operating as part of a ground robot. A structural diagram of the bidirectional wireless energy transfer module is proposed for integration into the robot’s control system, built on distributed principles. The developed algorithms take into account the specific features of the circuitry solutions of the bidirectional wireless energy transfer system, implemented using an uncontrolled resonant generator. The proposed solutions are tested on a robotics platform. The experiments focus on the process of replenishing the energy resources of one robot with another robot. Energy is transmitted between robots equipped with the same Li-ion battery, which has a nominal voltage of 7.4 V and a capacity of 5 A•h. The battery is charged from 50 % to 90 % capacity with different positioning accuracies of the robots. When there is a displacement of 4 mm and a distance of 4 mm between the receiving and transmitting coils, the charging time was 48 minutes, which is 5 % longer than the wired charging method. The maximum charging time reached 57 minutes with a distance of 15 mm between the robots. The use of bidirectional wireless power transfer for energy exchange between ground robots or for charging robots at a charging station enhances the autonomy of the group’s operation, as energy transfer can be successfully achieved even with low positioning accuracy. The proposed solutions can be used for battery charging and resource redistribution processes in groups of ground and underwater robots.
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Zhang, Ziang, Yixu Wan, You Wang, Xiaoqing Guan, Wei Ren, and Guang Li. "Improved hybrid A* path planning method for spherical mobile robot based on pendulum." International Journal of Advanced Robotic Systems 18, no. 1 (2021): 172988142199295. http://dx.doi.org/10.1177/1729881421992958.
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This article proposes a modification of hybrid A* method used for navigation of spherical mobile robots with the ability of limited partial lateral movement driven by pendulum. For pendulum-driven spherical robots with nonzero minimal turning radius, our modification helps to find a feasible and achievable path, which can be followed in line with the low time cost. Because of spherical shell shape, the robot is point contact with the ground, showing different kinematic model compared with common ground mobile robots such as differential robot and wheeled car-like robot. Therefore, this article analyzes the kinematic model of spherical robot and proposes a novel method to generate feasible and achievable paths conforming to kinematic constraints, which can be the initial value of future trajectory tracking control and further optimization. A concept of optimal robot’s minimum area for rotation is also proposed to improve search efficiency and ensure the ability of turning to any orientation by moving forward and backward in a finite number of times within limited areas.
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Mamiya, Shotaro, Shigenori Sano, and Naoki Uchiyama. "Foot Structure with Divided Flat Soles and Springs for Legged Robots and Experimental Verification." Journal of Robotics and Mechatronics 28, no. 6 (2016): 799–807. http://dx.doi.org/10.20965/jrm.2016.p0799.
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[abstFig src='/00280006/03.jpg' width='300' text='Robotic foot adaptable to rough terrain' ] Practical ambulation must be realized by walking robots to enable social and industrial support by walking robots in human living environments. A four-legged robot that walks through rough terrain effectively does not erase the fact that most legged robots – particularly biped robots – have difficulty negotiating rough terrain. We focus below on a foot structure and landing control for enabling any type of legged robot to walk through rough terrain. When a walking robot lands on the ground, it is difficult to detect the detailed geometry and dynamic properties of the ground surface. The new foot structure we propose adapts to ground surfaces that have different geometries and hardness. The foot has four-part flat soles. The landing controller we apply to a robot with our proposed foot structure increases the stability of contact with the ground. We verify the effectiveness of our proposed foot structure in experiments.
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Liu, Yi, Junyao Gao, Jingchao Zhao, and Xuanyang Shi. "A New Disaster Information Sensing Mode: Using Multi-Robot System with Air Dispersal Mode." Sensors 18, no. 10 (2018): 3589. http://dx.doi.org/10.3390/s18103589.
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This paper presents a novel sensing mode for using mobile robots to collect disaster ground information when the ground traffic from the rescue center to disaster site is disrupted. Traditional sensing modes which use aerial robots or ground robots independently either have limited ability to access disaster site or are only able to provide a bird’s eye view of the disaster site. To illustrate the proposed sensing mode, the authors have developed a Multi-robot System with Air Dispersal Mode (MSADM) by combining the unimpeded path of aerial robots with the detailed view of ground robots. In the MSADM, an airplane carries some minimal reconnaissance ground robots to overcome the paralyzed traffic problem and deploys them on the ground to collect detailed scene information using parachutes and separation device modules. In addition, the airplane cruises in the sky and relays the control and reported information between the ground robots and the human operator. This means that the proposed sensing mode is able to provide more reliable communication performance when there are obstacles between the human operators and the ground robots. Additionally, the proposed sensing mode can easily make use of different kinds of ground robots, as long as they have a compatible interface with the separation device. Finally, an experimental demonstration of the MSADM is presented to show the effectiveness of the proposed sensing mode.
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Wang, Yankai, Qiaoling Du, Tianhe Zhang, and Chengze Xue. "The WL_PCR: A Planning for Ground-to-Pole Transition of Wheeled-Legged Pole-Climbing Robots." Robotics 10, no. 3 (2021): 96. http://dx.doi.org/10.3390/robotics10030096.
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Hybrid mobile robots with two motion modes of a wheeled vehicle and truss structure with the ability to climb poles have significant flexibility. The motion planning of this kind of robot on a pole has been widely studied, but few studies have focused on the transition of the robot from the ground to the pole. In this study, a locomotion strategy of wheeled-legged pole-climbing robots (the WL_PCR) is proposed to solve the problem of ground-to-pole transition. By analyzing the force of static and dynamic process in the ground-to-pole transition, the condition of torque provided by the gripper and moving joint is proposed. The mathematical expression of Centre of Mass (CoM) of the wheeled-legged pole-climbing robots is utilized, and the conditions for the robot to smoothly transition from the ground to the vertical pole are proposed. Finally, the feasibility of this method is proved by the simulation and experimentation of a locomotion strategy on wheeled-legged pole-climbing robots.
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Mitsch, Stefan, Khalil Ghorbal, David Vogelbacher, and André Platzer. "Formal verification of obstacle avoidance and navigation of ground robots." International Journal of Robotics Research 36, no. 12 (2017): 1312–40. http://dx.doi.org/10.1177/0278364917733549.
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This article answers fundamental safety questions for ground robot navigation: under which circumstances does which control decision make a ground robot safely avoid obstacles? Unsurprisingly, the answer depends on the exact formulation of the safety objective, as well as the physical capabilities and limitations of the robot and the obstacles. Because uncertainties about the exact future behavior of a robot’s environment make this a challenging problem, we formally verify corresponding controllers and provide rigorous safety proofs justifying why the robots can never collide with the obstacle in the respective physical model. To account for ground robots in which different physical phenomena are important, we analyze a series of increasingly strong properties of controllers for increasingly rich dynamics and identify the impact that the additional model parameters have on the required safety margins. We analyze and formally verify: (i) static safety, which ensures that no collisions can happen with stationary obstacles; (ii) passive safety, which ensures that no collisions can happen with stationary or moving obstacles while the robot moves; (iii) the stronger passive-friendly safety, in which the robot further maintains sufficient maneuvering distance for obstacles to avoid collision as well; and (iv) passive orientation safety, which allows for imperfect sensor coverage of the robot, i.e., the robot is aware that not everything in its environment will be visible. We formally prove that safety can be guaranteed despite sensor uncertainty and actuator perturbation. We complement these provably correct safety properties with liveness properties: we prove that provably safe motion is flexible enough to let the robot navigate waypoints and pass intersections. To account for the mixed influence of discrete control decisions and the continuous physical motion of the ground robot, we develop corresponding hybrid system models and use differential dynamic logic theorem-proving techniques to formally verify their correctness. Since these models identify a broad range of conditions under which control decisions are provably safe, our results apply to any control algorithm for ground robots with the same dynamics. As a demonstration, we also synthesize provably correct runtime monitor conditions that check the compliance of any control algorithm with the verified control decisions.
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Tellex, Stefanie, Nakul Gopalan, Hadas Kress-Gazit, and Cynthia Matuszek. "Robots That Use Language." Annual Review of Control, Robotics, and Autonomous Systems 3, no. 1 (2020): 25–55. http://dx.doi.org/10.1146/annurev-control-101119-071628.
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This article surveys the use of natural language in robotics from a robotics point of view. To use human language, robots must map words to aspects of the physical world, mediated by the robot's sensors and actuators. This problem differs from other natural language processing domains due to the need to ground the language to noisy percepts and physical actions. Here, we describe central aspects of language use by robots, including understanding natural language requests, using language to drive learning about the physical world, and engaging in collaborative dialogue with a human partner. We describe common approaches, roughly divided into learning methods, logic-based methods, and methods that focus on questions of human–robot interaction. Finally, we describe several application domains for language-using robots.
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Yan, Hui, Xue Bo Zhang, Yu Wang, and Wei Jie Han. "Research on the Vision Processing of Space Robot's Tracking Camera." Advanced Materials Research 748 (August 2013): 713–17. http://dx.doi.org/10.4028/www.scientific.net/amr.748.713.
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The tracking camera is very important to the whole test tasks of space robot. Aiming at the vision processing problems of space robots tracking camera, a new method of vision processing LabVIEW+DLL is present in this article. Based on the method, a set of vision processing system of space robots tracking camera is researched and developed. This system can better meet the index requirements of space robots vision processing and precisely measure the position and posture data from the target star relative to space robots body coordinate system in the process of the ground air-float test for the space robot, guaranteeing the smooth completion of the ground test mission.
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Hijikata, Masaaki, Renato Miyagusuku, and Koichi Ozaki. "Omni Wheel Arrangement Evaluation Method Using Velocity Moments." Applied Sciences 13, no. 3 (2023): 1584. http://dx.doi.org/10.3390/app13031584.
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Wheeled omnidirectional mobile robots have been developed for industrial and service applications. Conventional research on Omni wheel robots has mainly been directed toward point-symmetric wheel arrangements. However, more flexible asymmetric arrangements may be beneficial to prevent tipping over or to make the robot more compact. Asymmetry can also be the result of a motor/wheel failure in a robot with a redundant configuration; in this case, it may be possible to continue operations, but with an asymmetrical arrangement. For controlling such asymmetric arrangements, it is necessary to consider the moment of propulsive force generated by the wheels. Since it is difficult to measure the propulsive force accurately, in this work we model propulsive forces as being proportional to the ground speed of the wheels. Under this assumption, we estimated the robot’s behavior in an asymmetric wheel configuration by considering the balance of the velocity moment, which is the moment of the wheel’s ground speed. By verifying the robot’s behavior with various wheel configurations, we confirmed experimentally that the sum of the velocity moments affects the straightness of the robot and allows us to improve the design of asymmetric wheel arrangements and control during wheel failures.
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Bayer, Jan, Petr Cížek, and Jan Faigl. "Autonomous Multi-robot Exploration with Ground Vehicles in DARPA Subterranean Challenge Finals." Field Robotics 3, no. 1 (2023): 266–300. http://dx.doi.org/10.55417/fr.2023008.
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Autonomous navigation and multi-robot exploration framework for ground robots are key parts of the robotic system deployed by the team CTU-CRAS-NORLAB in the final event of the Subterranean (SubT) Challenge organized by the Defense Advanced Research Projects Agency (DARPA) in 2021. The SubT Challenge aimed to advance technologies related to search-and-rescue missions with multi-robot systems in underground environments where communication is unavailable and global navigation satellite systems are denied. This field report describes the developed multi- robot exploration framework focusing on planning, exploration, and traversability estimation for a heterogeneous team of ground vehicles in large-scale rough terrains and multi-robot coordination with limited communication. The developed method employs a dense local mapping for precise traversability estimation combined with a sparse topometrical map shareable between multiple robots and is thus used in the decision-making of the exploration strategy. The topometrical map is designed to support the decentralized coordination of heterogeneous teams of robots, which is demonstrated by deploying the developed framework in the SubT competitions. The framework has been employed in the Virtual track for the full autonomous control of the ground robots, where our team scored second. Besides, in the Systems track, a human supervisor exploited autonomous behaviors provided by the proposed framework to control a heterogeneous team of six ground robots. We report on real-world experimental results from the deployment of the SubT Challenge. Furthermore, we present results from the post-event testing of the SubT Challenge, where three quadruped robots controlled by the framework explored over five hundred meters fully autonomously.
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Chiu, Min Chie, Long Jyi Yeh, Tian Syung Lan, and Shao Chun Yen. "Positioning and Path Planning for a Swarm Robotic Cleaner." Advanced Materials Research 740 (August 2013): 112–19. http://dx.doi.org/10.4028/www.scientific.net/amr.740.112.
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The main purpose of this paper is to create an efficient ground-sweeping robot equipped with map-establishing and path-planning functions. Two ground-sweeping robots are connected with a master pc via a Blue-tooth protocol. The position of the ground-sweeping robot will be sent back to the master pc allowing the master pc to control the robots during the ground-sweeping process. An environmental map of the sweeping area will be established by emitting an ultrasonic wave from a rotating ultrasonic sensor within the robot. The geometry data will be sent back to the master pc via the Bluetooth module. The map of sweeping area will be made by the master pc using a wall-searching method. A single-chip Microcontroller PIC18F4520 is used as a control core to control the motor speed via the PWM in the robot. The clockwise and counter clockwise rotation of the motor will then be manipulated by a TA7279 IC. The robot is equipped with two ultrasonic modules used to detect the distance between the robot and the obstacle. This information will be sent back to the master pc via the Blue-tooth module. Consequently, results reveal that a prototype of the swarm robot system using two ground-sweeping robots and a master pc has positioning and mapping abilities.
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Schulz, Adriana, Cynthia Sung, Andrew Spielberg, et al. "Interactive robogami: An end-to-end system for design of robots with ground locomotion." International Journal of Robotics Research 36, no. 10 (2017): 1131–47. http://dx.doi.org/10.1177/0278364917723465.
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This paper aims to democratize the design and fabrication of robots, enabling people of all skill levels to make robots without needing expert domain knowledge. Existing work in computational design and rapid fabrication has explored this question of customization for physical objects but so far has not been able to conquer the complexity of robot designs. We have developed Interactive Robogami, a tool for composition-based design of ground robots that can be fabricated as flat sheets and then folded into 3D structures. This rapid prototyping process enables users to create lightweight, affordable, and materially versatile robots with short turnaround time. Using Interactive Robogami, designers can compose new robot designs from a database of print-and-fold parts. The designs are tested for the users’ functional specifications via simulation and fabricated on user satisfaction. We present six robots designed and fabricated using a 3D printing based approach, as well as a larger robot cut from sheet metal. We have also conducted a user study that demonstrates that our tool is intuitive for novice designers and expressive enough to create a wide variety of ground robot designs.
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Davoodi, Mohammadreza, Javad Mohammadpour Velni, and Changying Li. "Coverage Control with Multiple Ground Robots for Precision Agriculture." Mechanical Engineering 140, no. 06 (2018): S4—S8. http://dx.doi.org/10.1115/1.2018-jun-4.
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In this work, coverage of agricultural fields using a team of autonomous unmanned ground robots with no human intervention is investigated. To this end, field is first represented by a topological mapandthenadistributedenergy-awaredeployment strategy is proposed to optimally distribute robots with the aim of persistent monitoring of specified regions of interest. When a robot participating in the coverage task approaches a low energy reserve, the team of robots collectively and cooperatively adjust the coverage formation to allow the agent to return to a designated base station, where it can recharge before rejoining the effort. Preliminary (simulation) results are provided to show the effectiveness and capabilities of the proposed coverage algorithm.
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Emmi, Luis, Roemi Fernández, and Pablo Gonzalez-de-Santos. "An Efficient Guiding Manager for Ground Mobile Robots in Agriculture." Robotics 13, no. 1 (2023): 6. http://dx.doi.org/10.3390/robotics13010006.
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Mobile robots have become increasingly important across various sectors and are now essential in agriculture due to their ability to navigate effectively and precisely in crop fields. Navigation involves the integration of several technologies, including robotics, control theory, computer vision, and artificial intelligence, among others. Challenges in robot navigation, particularly in agriculture, include mapping, localization, path planning, obstacle detection, and guiding control. Accurate mapping, localization, and obstacle detection are crucial for efficient navigation, while guiding the robotic system is essential to execute tasks accurately and for the safety of crops and the robot itself. Therefore, this study introduces a Guiding Manager for autonomous mobile robots specialized for laser-based weeding tools in agriculture. The focus is on the robot’s tracking, which combines a lateral controller, a spiral controller, and a linear speed controller to adjust to the different types of trajectories that are commonly followed in agricultural environments, such as straight lines and curves. The controllers have demonstrated their usefulness in different real work environments at different nominal speeds, validated on a tracked mobile platform with a width of about 1.48 m, in complex and varying field conditions including loose soil, stones, and humidity. The lateral controller presented an average absolute lateral error of approximately 0.076 m and an angular error of about 0.0418 rad, while the spiral controller presented an average absolute lateral error of about 0.12 m and an angular error of about 0.0103 rad, with a horizontal accuracy of about ±0.015 m and an angular accuracy of about ±0.009 rad, demonstrating its effectiveness in real farm tests.
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Okada, Tokuji, Abeer Mahmoud, Wagner Tanaka Botelho, and Toshimi Shimizu. "Trajectory estimation of a skid-steering mobile robot propelled by independently driven wheels." Robotica 30, no. 1 (2011): 123–32. http://dx.doi.org/10.1017/s026357471100035x.
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SUMMARYThis paper analyses a mobile robot with independently rotating wheels travelling on uneven but smooth ground, including ascending or descending surfaces. We formulate a mathematical expression for the energy cost of the robot's movement. For our analysis, we utilise the principle of virtual work and assume that the robot moves with a fixed arrangement of wheel axes and without using a steering handle. The mathematical model reveals that the coefficient of friction and the payload distribution dominate the wheel behaviour, including slipping and skidding. We minimise the virtual work expression to determine the robot's motion complying with driven wheels. The model also enables us to estimate trajectories for different ground conditions. A hybrid robot, PEOPLER-II, is used to demonstrate the predicted motions, including turns and spins, by following angular velocity control rules. Experimental data verifies that the proposed formulation and minimisation of virtual work are valid techniques for predicting a robot's trajectory. The method described is widely applicable to wheeled robots having independently driven wheels.
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Spassky, Boris, and Alexander Popov. "Towards the use of control systems with variable autonomy levels in tasks of extreme robotics." Robotics and Technical Cybernetics 12, no. 2 (2024): 99–108. http://dx.doi.org/10.31776/rtcj.12203.
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Increasing the level of robot autonomy in scenarios of extreme robotics allows, on the one hand, to reduce the load on the operator due to the sharing of labor between man and machine, and on the other, to increase the safety and efficiency of performing complex and critical tasks, such as search and rescue operations, monitoring of hazard-ous environments, disposal or neutralization of dangerous objects and many others. Such robots are characterized by the predominant use of teleoperation. However, recently there appeared a trend towards increasing of robot’s autonomy levels even for those types of robots that worked exclusively in direct teleoperation mode of control [1]. This article focuses on the consideration of control strategies for ground-based mobile robots with variable levels of autonomy when performing various types of work in extreme situations.
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Sun, Peng, Yunfei Gu, Haoyu Mao, Zhao Chen, and Yanbiao Li. "Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot." Biomimetics 8, no. 2 (2023): 258. http://dx.doi.org/10.3390/biomimetics8020258.
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A kinematics analysis of a new hybrid mechanical leg suitable for bipedal robots was carried out and the gait of the robot walking on flat ground was planned. Firstly, the kinematics of the hybrid mechanical leg were analyzed and the applicable relevant models were established. Secondly, based on the preliminary motion requirements, the inverted pendulum model was used to divide the robot walking into three stages for gait planning: mid-step, start and stop. In the three stages of robot walking, the forward and lateral robot centroid motion trajectories and the swinging leg joint trajectories were calculated. Finally, dynamic simulation software was used to simulate the virtual prototype of the robot, achieving its stable walking on flat ground in the virtual environment, and verifying the feasibility of the mechanism design and gait planning. This study provides a reference for the gait planning of hybrid mechanical legged bipedal robots and lays the foundation for further research on the robots involved in this thesis.
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Nie, Chenghui, Marin Assaliyski, and Matthew Spenko. "Design and experimental characterization of an omnidirectional unmanned ground vehicle for unstructured terrain." Robotica 33, no. 9 (2014): 1984–2000. http://dx.doi.org/10.1017/s0263574714001180.
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SUMMARYThis paper describes the design and experimental validation of an omnidirectional unmanned ground vehicle built for operation on real-world, unstructured terrains. The omnidirectional capabilities of this robot give it advantages over skid-steered or Ackermann-steered vehicles in tight and confined spaces. The robot's conventional wheels allow for operation in natural, outdoor environments as compared to omnidirectional robots that use specialized wheels with small, slender rollers and parts that can easily become obstructed with debris and dirt. Additionally, the robot's active split offset caster design allows the robot to kinematically follow continuous but non-differentiable paths and heading angles regardless of its current kinematic configuration. The active split offset caster design also results in less scrubbing torque and therefore less energy consumption during steering as compared to actively steered caster designs. The focus of this paper is the robot's mechanical design as it relates to kinematic isotropy and experimental validation of the design.
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Finn, Anthony, Adam Jacoff, Mike Del Rose, et al. "Evaluating autonomous ground-robots." Journal of Field Robotics 29, no. 5 (2012): 689–706. http://dx.doi.org/10.1002/rob.21433.
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Latif, M., Shofia Hardi, and Sri Herawati. "Motion control development for autonomous ground robots in agriculture task." Journal of Physics: Conference Series 2193, no. 1 (2022): 012060. http://dx.doi.org/10.1088/1742-6596/2193/1/012060.
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Abstract Motion control for autonomous ground robots to solve tasks in agriculture is investigated in this study. Motion control is designed and developed to track the reference trajectory. The model is developed in detail based on the kinematics and dynamics of the robot. The novelty of this research is to solve the problem of controlling agricultural robots on the problem of tracking a rectangular spiral trajectory. The motion controls described in this study were developed and validated in a simulation. Accuracy of the developed system is validated by measuring the error tracking using MSE and RMSE. Conclusion shows that the developed motion control for autonomous ground robots works well based on the validation results.
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Bogue, Robert. "The role of robots in the battlefields of the future." Industrial Robot: An International Journal 43, no. 4 (2016): 354–59. http://dx.doi.org/10.1108/ir-03-2016-0104.
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Purpose This paper aims to provide an overview of robots presently in use by the military and an insight into some that are under development. Design/methodology/approach Following a short introduction, this paper first considers existing applications of robots in the military field, including details of Russian weaponised ground robots. It then highlights a range of military robot developments and concludes with a brief discussion. Findings Drones (unmanned aerial vehicles) and small unmanned ground vehicles (UGVs) are among the most widely used robots by the military. Russia is developing a growing armoury of heavily weaponised UGVs, some of which were recently deployed in Syria. Some topics of development include humanoid robots, powered exoskeletons, load-carrying robots, micro-air vehicles and autonomous land vehicles. Robots will play an ever-growing role in military actions, and while some developments offer longer-term prospects, others are expected to be deployed in the near future. Originality/value Robots are playing an increasingly important role in military conflicts, and this provides details of present-day and anticipated future uses of robots by the military.
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Zhang, Yaohui, Yugang Song, Fanggang Lu, et al. "Design and Experiment of Greenhouse Self-Balancing Mobile Robot Based on PR Joint Sensor." Agriculture 13, no. 10 (2023): 2040. http://dx.doi.org/10.3390/agriculture13102040.
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To avoid issues such as the greenhouse working robot’s inability to perform normal tasks or reduced working accuracy due to the influence of uneven ground, this study designed a set of greenhouse self-balancing mobile robots. The self-balancing mobile robot system designed in this study uses a quadruped mobile robot as a carrier, equipped with a three-degrees-of-freedom wheel-leg structure and is complemented with a posture control algorithm. The algorithm calculates the adjustment of each leg based on the vehicle’s tilt angle and wheel-ground pressure, achieving control over the robot’s posture angle, the center of gravity height, wheel-ground contact force, and other functions. To address the issue of over-constrained (weak legs) posture adjustment during mobile robot fieldwork, a flexible joint sensor based on the PR structure has been designed and developed. After field testing, it was verified that the greenhouse self-balancing mobile robot proposed in this study can adapt well to field environments, such as climbing hills, overcoming obstacles, crossing furrows, and so on. The response speed of the flexible joint sensor can meet the requirements of self-balancing while effectively solving the problem of weak legs.
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Kiselev, Sergey K., and Tuan T. Van. "CONTROL OF A GROUND MOBILE ROBOT MOTION IN CASE OF THE NAVIGATIONAL DATA CORRUPTION OF THE SATELLITE NAVIGATION SYSTEM." Автоматизация процессов управления 2, no. 64 (2021): 4–12. http://dx.doi.org/10.35752/1991-2927-2021-2-64-4-12.
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The article discusses the determination of navigational data corruption, which received by the satellite navigation system as well as traffic control of ground mobile robots. It also specifies the movement features of ground robots, which affect the data integrity monitoring. It proposes an algorithm of control to implement the methods of autonomous onboard monitoring of the navigational data integrity. The algorithm is based on the equations of signal correspondence in various parts of the control system. It is designed to determine the inoperability of the satellite navigation system that implies the loss of signal and failure in the navigation problem solution. The algorithm takes into account the non-deterministic nature of moving ground robot with possible stops in the process of following the trajectory. The article considers the implementation variants of algorithm to assess reliability for the control system containing additional sensors of the robot’s displacement and for the hardware-redundant system containing no additional sensors. The results of modeling the movement of a ground mobile robot along an arbitrary trajectory in case of navigational data corruption are presented. The features of algorithm based on the simulation results are described in the article. The authors considered variants of robot control in case of navigational data corruption. The structure of the system and a method for controlling a mobile robot in case of satellite navigation system failures are also proposed. The method is based on the control mode in the system, according to the measured data of the position of the robot in the case of navigational data corruption or otherwise according to the data calculated from the robot model. The implementation of the method makes it possible to avoid significant deviations of the robot from a given trajectory of movement at intervals of signal loss of the satellite navigation system.
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Peng, Saijin, Xilun Ding, Fan Yang, and Kun Xu. "Motion planning and implementation for the self-recovery of an overturned multi-legged robot." Robotica 35, no. 5 (2015): 1107–20. http://dx.doi.org/10.1017/s0263574715001009.
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SUMMARYThis paper first presents a method of motion planning and implementation for the self-recovery of an overturned six-legged robot. Previous studies aimed at the static and dynamic stabilization of robots for preventing them from overturning. However, no one can guarantee that an overturn accident will not occur during various applications of robots. Therefore, the problems involving overturning should be considered and solved during robot design and control. The design inspirations of multi-legged robots come from nature, especially insects and mammals. In addition, the self-recovery approach of an insect could also be imitated by robots. In this paper, such a self-recovery mechanism is reported. The inertial forces of the dangling legs are used to bias some legs to touch the ground, and the ground reaction forces exerted on the feet of landing legs are achieved to support and push the body to enable recovery without additional help. By employing the mechanism, a self-recovery approach named SSR (Sidewise-Self-Recovery) is presented and applied to multi-legged robots. Experiments of NOROS are performed to validate the effectiveness of the self-recovery motions. The results show that the SSR is a suitable method for multi-legged robots and that the hemisphere shell of robots can help them to perform self-recovery.
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Watanabe, Ayaka, Tomonori Mitsuhashi, Masayuki Okugawa, et al. "Ground Adaptability of Crawler Mobile Robots with Sub-Crawler Rotary Joint Compliance." Journal of Robotics and Mechatronics 36, no. 3 (2024): 732–45. http://dx.doi.org/10.20965/jrm.2024.p0732.
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Remote-controlled mobile robots are expected to be used in difficult- or impossible-to-access environments for inspection workers and responders, such as in investigations and search activities at accident/disaster sites and inspection/investigation work at plants/infrastructure. Among ground mobile robots, crawler mobile robots with sub-crawlers (also known as ground-adaptive crawler robots) excel at in-ground adaptability and stack escape; however, their operators require advanced remote-control technology and experience. Therefore, the introduction of semi-autonomous control to assist the operator is required. In this study, the principle of the pushing-up sequence and the possibility of mobiligence emerging from interaction with obstacles caused by the robot movement were described. In addition, the sub-crawler rotary joint’s compliance, which significantly contributes to ground adaptability, was hypothesized, and a compliance control system design method that uses the sub-crawler constraint angle as a design condition was proposed. It was confirmed that the model robot for the evaluation, which used the proposed method, could adapt to unknown obstacles without measuring their height and shape and traverse them based on experimental results. In addition, based on the numerical calculation results, it was determined that the optimum solution for the restriction angle of the sub-crawler was approximately 35°–50° from the perspective of propulsive force and tumble stability.
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Rafeeq, Mohammed, Siti Fauziah Toha, Salmiah Ahmad, Mohd Asyraf Razib, Ahmad Syahrin Idris, and Mohammad Osman Tokhi. "Amphibious Robots Locomotion Strategies in Unstructured Complex Environments: A Review." Platform : A Journal of Engineering 8, no. 1 (2024): 12. http://dx.doi.org/10.61762/pajevol8iss1art26197.
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In the previous literature, amphibious robots focused mainly on locomotion in underwater and flat land surface manoeuvring. Few amphibious robots focused on unstructured land environments. The amphibious robot designs were more emphasised in academics, leading to more work done in building amphibious robots that mimic biological amphibians, imitating the geometry and overall functionality of the amphibious robots. Developing amphibious robots with propulsive mechanisms for manoeuvring in a water environment received more attention than other functionalities like adaptability on rough natural terrain and obstacle repositioning capability. However, practical applications like reconnaissance and surveying posed challenges in the ground environment, which had unstructured and complex terrain profiles, especially in the transition area. Therefore, reviewing the amphibious robots focused on manoeuvring complex uneven surfaces was essential. The literature had comprehensive review papers on navigation strategies encompassing manoeuvring on flat ground surfaces and underwater locomotion. There was a need for a focused study that highlighted the amphibious robot that manoeuvred in an unstructured land environment. The open challenges and recent solutions by designing new mechanisms and deployment issues were highlighted and reviewed. Hence, the paper addressed a more specific review of amphibious robot locomotion in an unstructured environment. The paper also discussed a case study of an amphibious robot capable of locomotion in unstructured environments. It was envisaged that the review would provide directions and insights to researchers and robotic system designers on developing robust propulsive mechanisms for amphibious robots capable of locomotion in unstructured environments.Keywords: manoeuvrability, mobility, terrain, unified locomotion, mechanism, propulsion
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Li, Ping, and Liwei Yang. "Conflict-free and energy-efficient path planning for multi-robots based on priority free ant colony optimization." Mathematical Biosciences and Engineering 20, no. 2 (2022): 3528–65. http://dx.doi.org/10.3934/mbe.2023165.
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<abstract><p>With the background of limited energy storage of robots and considering the high coupling problem of multi-agent path finding (MAPF), we propose a priority-free ant colony optimization (PFACO) to plan conflict-free and energy-efficient paths, reducing multi-robots motion cost in the rough ground environment. First, a dual-resolution grid map considering obstacles and ground friction factors is designed to model the unstructured rough terrain. Second, an energy-constrained ant colony optimization (ECACO) is proposed to achieve energy-optimal path planning for a single robot, in which we improve the heuristic function based on the combined effects of path length, path smoothness, ground friction coefficient and energy consumption, and consider multiple energy consumption metrics during robot motion to improved pheromone update strategy. Finally, considering multiple collision conflict cases among multiple robots, we incorporate a prioritized conflict-free strategy (PCS) and a route conflict-free strategy (RCS) based on ECACO to achieve MAPF with low-energy and conflict-free in a rough environment. Simulation and experimental results show that ECACO can achieve better energy saving for single robot motion under all three common neighborhood search strategies. PFACO achieves both the conflict-free path and energy-saving planning for robots in complex scenarios, and the study has some reference value for solving practical problems.</p></abstract>
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Zuo, Weilong, Junyao Gao, Jingwei Cao, Xilong Xin, Mingyue Jin, and Xuechao Chen. "Whole-Body Dynamics-Based Aerial Fall Trajectory Optimization and Landing Control for Humanoid Robot." Biomimetics 8, no. 6 (2023): 460. http://dx.doi.org/10.3390/biomimetics8060460.
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When humanoid robots work in human environments, falls are inevitable due to the complexity of such environments. Current research on humanoid robot falls has mainly focused on falls on the ground, with little research on humanoid robots falling from the air. In this paper, we employ an extended state variable formulation that directly maps from the high-level motion strategy space to the full-body joint space to optimize the falling trajectory in order to protect the robot when falling from the air. In order to mitigate the impact force generated by the robot’s fall, during the aerial phase, we employ simple proportion differentiation (PD) control. In the landing phase, we optimize the optimal contact force at the contact point using the centroidal dynamics model. Based on the contact force, the changes to the end-effector positions are solved using a dual spring–damper model. In the simulation experiments, we conduct three comparative experiments, and the simulation results demonstrate that the robot can safely fall 1.5 m from the ground at a pitch angle of 45°. Finally, we experimentally validate the methods on an actual robot by performing a side-fall experiment. The experimental results show that the proposed trajectory optimization and motion control methods can provide excellent shock absorption for the impact generated when a robot falls.
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Zhu, Renjie, Yifan Zhang, and Hongqiang Wang. "Miniature Mobile Robot Using Only One Tilted Vibration Motor." Micromachines 13, no. 8 (2022): 1184. http://dx.doi.org/10.3390/mi13081184.
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In miniature mobile robots, reducing the number of actuators can effectively reduce the size and weight of the robot. However, it is challenging to design a robot with as few actuators as possible without losing good motion performance. This work presented a simple-structured low-cost miniature mobile robot. It is driven by only a single tilted motor and yet is fully capable of being controlled to move forward and turn left or right on the ground. Based on the stick–slip mechanism, the robot’s motion is achieved by interplaying between the centrifugal force generated by the vibration motor tilted on the robot and the friction force of the robot. The robot’s speed can be controlled by regulating the magnitude and the period of the applied voltage. Finally, the robot can translate and rotate on the ground and follow various arbitrary paths. The prototype weighs only 11.15 g, costs $6.35, and is 20 mm in diameter and 25 mm in height. The proposed system is experimentally verified and demonstrates the controllability of the robot by the movement along a straight line, a circle, and more arbitrary paths.
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Li, Ang. "Design of Flexible Feet for Legged Robots." Journal of Engineering System 1, no. 2 (2023): 18–23. http://dx.doi.org/10.62517/jes.202302204.
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Due to its unique body structure and movement mode, the legged robot has strong terrain adaptability and can move in many complex environments. However, the robot's feet will frequently contact with the ground during the movement, and will be subject to greater ground impact. The flexible foot structure can effectively reduce the ground impact. The leg and foot structures, and locomotor characteristics of cats and insects were analyzed based on bionic principles. Combined with the structural characteristics of the small-legged robot, the structure and function of the flexible foot end is analyzed.
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Tranzatto, Marco, Frank Mascarich, Lukas Bernreiter, et al. "CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge." Field Robotics 2, no. 1 (2022): 274–324. http://dx.doi.org/10.55417/fr.2022011.
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Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems, as underground settings present key challenges that can render robot autonomy hard to achieve. This problem has motivated the DARPA Subterranean Challenge, where teams of robots search for objects of interest in various underground environments. In response, we present the CERBERUS system-of-systems, as a unified strategy for subterranean exploration using legged and flying robots. Our proposed approach relies on ANYmal quadraped as primary robots, exploiting their endurance and ability to traverse challenging terrain. For aerial robots, we use both conventional and collision-tolerant multirotors to explore spaces too narrow or otherwise unreachable by ground systems. Anticipating degraded sensing conditions, we developed a complementary multimodal sensor-fusion approach, utilizing camera, LiDAR, and inertial data for resilient robot pose estimation. Individual robot pose estimates are refined by a centralized multi-robot map-optimization approach to improve the reported location accuracy of detected objects of interest in the DARPA-defined coordinate frame. Furthermore, a unified exploration path-planning policy is presented to facilitate the autonomous operation of both legged and aerial robots in complex underground networks. Finally, to enable communication among team agents and the base station, CERBERUS utilizes a ground rover with a high-gain antenna and an optical fiber connection to the base station and wireless “breadcrumb” nodes deployed by the legged robots. We report results from the CERBERUS system-of-systems deployment at the DARPA Subterranean Challenge’s Tunnel and Urban Circuit events, along with the current limitations and the lessons learned for the benefit of the community.
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Kupervasser, Oleg, Hennadii Kutomanov, Michael Mushaelov, and Roman Yavich. "Using Diffusion Map for Visual Navigation of a Ground Robot." Mathematics 8, no. 12 (2020): 2175. http://dx.doi.org/10.3390/math8122175.
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This paper presents the visual navigation method for determining the position and orientation of a ground robot using a diffusion map of robot images (obtained from a camera in an upper position—e.g., tower, drone) and for investigating robot stability with respect to desirable paths and control with time delay. The time delay appears because of image processing for visual navigation. We consider a diffusion map as a possible alternative to the currently popular deep learning, comparing the possibilities of these two methods for visual navigation of ground robots. The diffusion map projects an image (described by a point in multidimensional space) to a low-dimensional manifold preserving the mutual relationships between the data. We find the ground robot’s position and orientation as a function of coordinates of the robot image on the low-dimensional manifold obtained from the diffusion map. We compare these coordinates with coordinates obtained from deep learning. The algorithm has higher accuracy and is not sensitive to changes in lighting, the appearance of external moving objects, and other phenomena. However, the diffusion map needs a larger calculation time than deep learning. We consider possible future steps for reducing this calculation time.
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Cao, Kai, Yangquan Chen, Song Gao, Haixin Dang, and Di An. "Distributed Weighted Coverage for Multi-Robot Systems in Non-Convex Environment." Applied Sciences 13, no. 14 (2023): 8530. http://dx.doi.org/10.3390/app13148530.
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Multi-robot coverage systems are widely used in operations such as environmental monitoring, disaster rescue, and pollution prevention. This study considers inherent positioning errors in positioning systems and ground mobile robots with limited communication distance and poor quality in practice. A centroidal Voronoi tessellation algorithm-based formation control technology for multi-robots is optimized. First, by constructing buffered Voronoi cells (BUVCs) for each robot, the collision avoidance ability of the multi-robot formation movement is improved. Next, the formation control problem of multi-robots in a limited communication range and non-convex environment is realized via discrete Voronoi partitioning, a communication distance constraint, and an obstacle avoidance strategy. Simulation and experiment results demonstrate that the proposed method can effectively solve the position generation problem of multi-robot coverage systems in a non-convex environment with actual sizes of the robots and positioning system errors and can further improve the collision avoidance performance of robots and the robustness of BUVC algorithms.
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Peng, Ping, Xiao Jun Zhang, Jun Zhang, and Zhe Liu. "Research on Kinematic of the Wheel-Legged Robot Based on Uneven Road Surface." Advanced Materials Research 712-715 (June 2013): 2312–19. http://dx.doi.org/10.4028/www.scientific.net/amr.712-715.2312.
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A new type of wheel-legged mobile robot is presented in the paper, which is mainly used for early toxic gas leakage warning and disaster relief in the field of wild environment. The paper first presents the structure feature of the new wheel-legged mobile robot. According to the structure of the robot, the kinematics model about robot moving on the smoothing-riding surface is built. On this basis, considering the effects of the disturbance by uneven road surface the paper carries out the robots kinematics analysis. To simulate the result of robot moving on the real road surface, the paper researches on the robots kenimatics by inputing some typical ground driving to the robot. The result of the simulation experiment shows that the robot pose error is more increasing. So the influence of ground disturbance to robot should be took into account in designing the control symstem, which can decrease the pose error and make robot move more accurately.
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Muthugala, M. A. Viraj J., Povendhan Palanisamy, S. M. Bhagya P. Samarakoon, Saurav Ghante Anantha Padmanabha, Mohan Rajesh Elara, and Dylan Ng Terntzer. "Raptor: A Design of a Drain Inspection Robot." Sensors 21, no. 17 (2021): 5742. http://dx.doi.org/10.3390/s21175742.
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Frequent inspections are essential for drains to maintain proper function to ensure public health and safety. Robots have been developed to aid the drain inspection process. However, existing robots designed for drain inspection require improvements in their design and autonomy. This paper proposes a novel design of a drain inspection robot named Raptor. The robot has been designed with a manually reconfigurable wheel axle mechanism, which allows the change of ground clearance height. Design aspects of the robot, such as mechanical design, control architecture and autonomy functions, are comprehensively described in the paper, and insights are included. Maintaining the robot’s position in the middle of a drain when moving along the drain is essential for the inspection process. Thus, a fuzzy logic controller has been introduced to the robot to cater to this demand. Experiments have been conducted by deploying a prototype of the design to drain environments considering a set of diverse test scenarios. Experiment results show that the proposed controller effectively maintains the robot in the middle of a drain while moving along the drain. Therefore, the proposed robot design and the controller would be helpful in improving the productivity of robot-aided inspection of drains.
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Liu, Yunsong, and Xiong Zheng. "Bio-Inspired Double-Layered Hydrogel Robot with Fast Response via Thermo-Responsive Effect." Materials 17, no. 15 (2024): 3679. http://dx.doi.org/10.3390/ma17153679.
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Bio-inspired hydrogel robots have become promising due to their advantage of the interaction safety and comfort between robots and humans, while current hydrogel robots mainly focus on underwater movement due to the hydration–dehydration process of thermo-responsive hydrogels, which greatly limits their practical applications. To expand the motion of the thermo-responsive hydrogel robot to the ground, we constructed a hydrogel robot inspired by a caterpillar, which has an anisotropic double-layered structure by the interfacial diffusion polymerization method. Adding PVA and SA to PNIPAm will cause different conformation transitions. Therefore, sticking the two layers of hydrogel together will form a double-layer anisotropic structure. The ultra-high hydrophilicity of PVA and SA significantly reduces the contact angle of the hydrogel from 53.1° to about 10° and reduces its hydration time. The responsive time for bending 30° of the hydrogel robot has been greatly reduced from 1 h to half an hour through the enhancement of photo-thermal conversion and thermal conductivity via the addition of Fe3O4 nanoparticles. As a result, the fabricated hydrogel robot can achieve a high moving speed of 54.5 mm·h−1 on the ground. Additionally, the fabricated hydrogel has excellent mechanical strength and can endure significant flexibility tests. This work may pave the road for the development of soft robots and expand their applications in industry.
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Ma, Xinmeng, Gang Wang, Kaixin Liu, et al. "Granular Resistive Force Theory Extension for Saturated Wet Sand Ground." Machines 10, no. 9 (2022): 721. http://dx.doi.org/10.3390/machines10090721.
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Amphibious environments formed from sand and water present a formidable challenge to the running motion of field robots, as the mixing of granular media (GM) and water makes the force laws of robotic legs more complicated during robot running. To this end, we extended the granular resistive force theory (RFT) to saturated wet granular media, named saturated granular RFT (SGRFT), which can be suitable for saturated wet sand submerged in water. This method can extend RFT for dry GM to saturated wet granular media (SWGM) by using the method’s velocity and depth coefficient. The force laws of the robotic legs in dry GM and SWGM were tested, compared, and analyzed. The difference in force laws between the two kinds of media, from the sensitivity to speed (10 mm/s~50 mm/s) and depth (0~60 mm), was calculated. More than 70% of the prediction results of the horizontal resistive force using SGRFT have an error of less than 6%. The effectiveness of the SGRFT in legged robots is proved by simulation and testing of three kinds of legs. The difference in force laws when running is proved by the experiments of the robot equipped with the propeller-leg in dry GM and SWGM, which is vital for amphibious robots working in shoal environments (including dry GM and SWGM ground).
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Wijayathunga, Liyana, Alexander Rassau, and Douglas Chai. "Challengesand Solutions for Autonomous Ground Robot Scene Understanding and Navigation in Unstructured Outdoor Environments: A Review." Applied Sciences 13, no. 17 (2023): 9877. http://dx.doi.org/10.3390/app13179877.
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The capabilities of autonomous mobile robotic systems have been steadily improving due to recent advancements in computer science, engineering, and related disciplines such as cognitive science. In controlled environments, robots have achieved relatively high levels of autonomy. In more unstructured environments, however, the development of fully autonomous mobile robots remains challenging due to the complexity of understanding these environments. Many autonomous mobile robots use classical, learning-based or hybrid approaches for navigation. More recent learning-based methods may replace the complete navigation pipeline or selected stages of the classical approach. For effective deployment, autonomous robots must understand their external environments at a sophisticated level according to their intended applications. Therefore, in addition to robot perception, scene analysis and higher-level scene understanding (e.g., traversable/non-traversable, rough or smooth terrain, etc.) are required for autonomous robot navigation in unstructured outdoor environments. This paper provides a comprehensive review and critical analysis of these methods in the context of their applications to the problems of robot perception and scene understanding in unstructured environments and the related problems of localisation, environment mapping and path planning. State-of-the-art sensor fusion methods and multimodal scene understanding approaches are also discussed and evaluated within this context. The paper concludes with an in-depth discussion regarding the current state of the autonomous ground robot navigation challenge in unstructured outdoor environments and the most promising future research directions to overcome these challenges.
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Dettmann, Alexander, Malte Langosz, Jonas Eisenmenger, et al. "Ground Interaction Models for Increased Autonomy of Planetary Exploration Systems." Journal of Physics: Conference Series 2716, no. 1 (2024): 012092. http://dx.doi.org/10.1088/1742-6596/2716/1/012092.
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Abstract Future planetary exploration robots need to improve their autonomy to increase mission safety and efficiency. The presented concept achieves this by introducing the learning and usage of ground interaction models, which allow a more precise modelling of the robot’s mobility on different terrains. The idea is that a precise prediction of the expected performance will, on the one hand, allow an early detection of changed conditions and, on the other hand, enable a system to appropriately react on it. By classifying the traversed terrain, a robot gains the possibility to replan its path or to change its locomotion behavior to eventually optimize mission success. The paper provides details, on how the ground interaction models are trained, how the required data is collected, and how they are embedded into a physical simulator to use them online on the system.
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Poulet, Olivier, Frédéric Guinand, and François Guérin. "Self-Localization of Anonymous UGVs Using Deep Learning from Periodic Aerial Images for a GPS-Denied Environment." Robotics 13, no. 10 (2024): 148. http://dx.doi.org/10.3390/robotics13100148.
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This work concerns the autonomous navigation of non-holonomic ground mobile robots in a GPS-denied environment. The objective was to locate, in a global frame, without GPS, anonymous ground mobile robots starting from two consecutive aerial images captured by a single fixed webcam. The effectiveness of deep learning by a MultiLayer Perceptron in an indexed localization was compared to the methods studied in previous works. The ability of a robot to determine the position of other non-indexed robots was also performed. The structure and parameters of the network and the choice of the points taken into account during the learning phase to obtain a local optimum are presented. The results, obtained from simulated and experimental data, are compared to those obtained with more classical methods for different sampling periods (time between images).
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Yu, Shuien, Chunyun Fu, Amirali K. Gostar, and Minghui Hu. "A Review on Map-Merging Methods for Typical Map Types in Multiple-Ground-Robot SLAM Solutions." Sensors 20, no. 23 (2020): 6988. http://dx.doi.org/10.3390/s20236988.
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When multiple robots are involved in the process of simultaneous localization and mapping (SLAM), a global map should be constructed by merging the local maps built by individual robots, so as to provide a better representation of the environment. Hence, the map-merging methods play a crucial rule in multi-robot systems and determine the performance of multi-robot SLAM. This paper looks into the key problem of map merging for multiple-ground-robot SLAM and reviews the typical map-merging methods for several important types of maps in SLAM applications: occupancy grid maps, feature-based maps, and topological maps. These map-merging approaches are classified based on their working mechanism or the type of features they deal with. The concepts and characteristics of these map-merging methods are elaborated in this review. The contents summarized in this paper provide insights and guidance for future multiple-ground-robot SLAM solutions.
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Barca, Jan Carlo, Eugene Eu-Juin Lee, and Ahmet Sekercioglu. "Flexible Morphogenesis based Formation Control for Multi-Robot Systems." IAES International Journal of Robotics and Automation (IJRA) 2, no. 1 (2013): 26. http://dx.doi.org/10.11591/ijra.v2i1.pp26-34.
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Inspired by how biological cells communicate with each other at a cell-to-cell level; morphogenesis emerged to be an effective way for local communication between homogenous robots in multi-robot systems. In this paper, we present the first steps towards a scalable morphogenesis style formation control technique, which address the drawbacks associated with current morphogenesis type formation control techniques, including their inability to distribute robots evenly across target shapes. A series of experiments, which demonstrate that the proposed technique enables groups of non-holonomic ground moving robots to generate formations in less than 9 seconds with three robots and less than 22 seconds with five robots, is also presented. These experiments furthermore reveal that the proposed technique enables groups of robots to generate formations without significantly increasing the total travel distance when faced with obstacles. This work is an important contribution to multi-robot control theory as history has shown that the success of groups often depends on efficient and robust formation control.
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Chen, Yang, Shiwen Ren, Zhihuan Chen, Mengqing Chen, and Huaiyu Wu. "Path Planning for Vehicle-borne System Consisting of Multi Air–ground Robots." Robotica 38, no. 3 (2019): 493–511. http://dx.doi.org/10.1017/s0263574719000808.
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SummaryThis paper considers the path planning problem for deployment and collection of a marsupial vehicle system which consists of a ground mobile robot and two aerial flying robots. The ground mobile robot, usually unmanned ground vehicle (UGV), as a carrier, is able to deploy and harvest the aerial flying robots, and each aerial flying robot, usually unmanned aerial vehicles (UAVs), takes off from and lands on the carrier. At the same time, owing to the limited duration in the air in one flight, UAVs should return to the ground mobile robot timely for its energy-saving and recharge. This work is motivated by cooperative search and reconnaissance missions in the field of heterogeneous robot system. Especially, some targets with given positions are assumed to be visited by any of the UAVs. For the cooperative path planning problem, this paper establishes a mathematical model to solve the path of two UAVs and UGV. Many real constraints including the maximum speed of two UAVs and UGV, the minimum charging time of two UAVs, the maximum hovering time of UAVs, and the dynamic constraints among UAVs and UGV are considered. The objective function is constructed by minimizing the time for completing the whole mission. Finally, the path planning problem of the robot system is transformed into a multi-constrained optimization problem, and then the particle swarm optimization algorithm is used to obtain the path planning results. Simulations and comparisons verify the feasibility and effectiveness of the proposed method.
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Hashimoto, Kenji, Kentaro Hattori, Takuya Otani, Hun-Ok Lim, and Atsuo Takanishi. "Foot Placement Modification for a Biped Humanoid Robot with Narrow Feet." Scientific World Journal 2014 (2014): 1–9. http://dx.doi.org/10.1155/2014/259570.
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This paper describes a walking stabilization control for a biped humanoid robot with narrow feet. Most humanoid robots have larger feet than human beings to maintain their stability during walking. If robot’s feet are as narrow as humans, it is difficult to realize a stable walk by using conventional stabilization controls. The proposed control modifies a foot placement according to the robot's attitude angle. If a robot tends to fall down, a foot angle is modified about the roll axis so that a swing foot contacts the ground horizontally. And a foot-landing point is also changed laterally to inhibit the robot from falling to the outside. To reduce a foot-landing impact, a virtual compliance control is applied to the vertical axis and the roll and pitch axes of the foot. Verification of the proposed method is conducted through experiments with a biped humanoid robot WABIAN-2R. WABIAN-2R realized a knee-bended walking with 30 mm breadth feet. Moreover, WABIAN-2R mounted on a human-like foot mechanism mimicking a human's foot arch structure realized a stable walking with the knee-stretched, heel-contact, and toe-off motion.
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Tapia, Miguel A. Chávez, Diego Palma Rodríguez, and Marco Zúñiga Zamalloa. "Edge-Light: Exploiting Luminescent Solar Concentrators for Ambient Light Communication." Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 8, no. 3 (2024): 1–23. http://dx.doi.org/10.1145/3678574.
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A recent advance in embedded Internet of Things (IoT) exploits ambient light for wireless communication. This new paradigm enables highly efficient links via simple light modulation, but the design space has a fundamental constraint: in most State of the Art (SoA) studies, the link can only follow the propagation direction of ambient light. Consider, for example, a swarm of drones and ground robots that want to communicate with sunlight. Drone-to-robot communication could be possible because sunlight travels downwards from the air (drone) to the ground (robot), allowing drones to modulate light to send information to robots beneath them. Robot-to-robot communication, however, is not possible because sunlight does not travel sideways (parallel to the ground). To allow 'lateral communication' with ambient light, we propose using Luminescent Solar Concentrators (LSC). These optical components receive ambient light on their surface and re-direct part of the spectra towards their edges. Considering this optical property of LSC, our work has three main contributions. First, we benchmark various optical properties of LSC to assess their performance for ambient light communication. Second, we combine LSC with liquid crystal (LC) shutters to form lateral links with ambient light. Third, we test our links indoors and outdoors with artificial and natural ambient light, by enhancing two robots with our LSC transceivers and showing that they can exchange basic commands and coordinate tasks by communicating only with sunlight.
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Nakamura, Taro, Takashi Kato, Tomohide Iwanaga, and Yoichi Muranaka. "Development of a Peristaltic Crawling Robot Based on Earthworm Locomotion." Journal of Robotics and Mechatronics 18, no. 3 (2006): 299–304. http://dx.doi.org/10.20965/jrm.2006.p0299.
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Earthworm locomotion, called peristaltic crawling, requires less space than other types of movement, making it practical across irregular ground and inside narrow areas such as pipes and a thus a candidate for use with rescue and exploration robots. We developed a multiple-segment peristaltic crawling robot that uses servomotors. We discuss the basics of locomotion patterns, e.g., the length of longitudinal waves, period, friction force, and number of segments. We confirmed that robot movement resembled that of an actual earthworm and found in experiments that an appropriate period exists for the robot’s peristaltic crawling and that speed tends to decrease with decreasing friction force.
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Jin, Peiqi, Tongxiang Li, Yaoqiang Pan, et al. "A Context-Aware Navigation Framework for Ground Robots in Horticultural Environments." Sensors 24, no. 11 (2024): 3663. http://dx.doi.org/10.3390/s24113663.
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Environmental mapping and robot navigation are the basis for realizing robot automation in modern agricultural production. This study proposes a new autonomous mapping and navigation method for gardening scene robots. First, a new LiDAR slam-based semantic mapping algorithm is proposed to enable the robots to analyze structural information from point cloud images and generate roadmaps from them. Secondly, a general robot navigation framework is proposed to enable the robot to generate the shortest global path according to the road map, and consider the local terrain information to find the optimal local path to achieve safe and efficient trajectory tracking; this method is equipped in apple orchards. The LiDAR was evaluated on a differential drive robotic platform. Experimental results show that this method can effectively process orchard environmental information. Compared with vnf and pointnet++, the semantic information extraction efficiency and time are greatly improved. The map feature extraction time can be reduced to 0.1681 s, and its MIoU is 0.812. The resulting global path planning achieved a 100% success rate, with an average run time of 4ms. At the same time, the local path planning algorithm can effectively generate safe and smooth trajectories to execute the global path, with an average running time of 36 ms.
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Li, Minggang, Hanxu Sun, Long Ma, et al. "Special spherical mobile robot for planetary surface exploration: A review." International Journal of Advanced Robotic Systems 20, no. 2 (2023): 172988062311622. http://dx.doi.org/10.1177/17298806231162207.
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Considering the requirements of high scientific return, low cost, less complexity, and more reliability for the robot proposed by the extreme environment exploration task on the planet surface, this article comprehensively reviews the history of the special spherical robot used for extraterrestrial surface exploration and summarizes the environmental characteristics and task difficulties of different planet surface. This article compares the advantages of different types of ground spherical robots and points out the superiority of special spherical robots, such as omni-direction, airtightness, zero-radius turning, under-actuated, swarming, and lightweight. In addition, the research progress of special spherical robots for extraterrestrial exploration, such as wind ball, jumping ball, fly ball, ball with leg, pendulum driven ball, tensegrity structure, are reviewed respectively. Finally, the performance characteristics of all these robots are analyzed, their application scope given.
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BARNES, NICK, and ZHI-QIANG LIU. "VISION GUIDED CIRCUMNAVIGATING AUTONOMOUS ROBOTS." International Journal of Pattern Recognition and Artificial Intelligence 14, no. 06 (2000): 689–714. http://dx.doi.org/10.1142/s0218001400000489.
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We present a system for vision guided autonomous circumnavigation, allowing a mobile robot to navigate safely around objects of arbitrary pose, and avoid obstacles. The system performs model-based object recognition from an intensity image. By enabling robots to recognize and navigate with respect to particular objects, this system empowers robots to perform deterministic actions on specific objects, rather than general exploration and navigation as emphasized in much of the current literature. This paper describes a fully integrated system, and, in particular, introduces canonical-views. Further, we derive a direct algebraic method for finding object pose and position for the four-dimensional case of a ground-based robot with uncalibrated vertical movement of its camera. Vision for mobile robots can be treated as a very different problem to traditional computer vision, as mobile robots have a characteristic perspective, and there is a causal relation between robot actions and view changes. Canonical-views are a novel, active object representation designed specifically to take advantage of the constraints of the robot navigation problem to allow efficient recognition and navigation.