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Journal articles on the topic 'All terrain robot'

Author: Grafiati

Published: 4 June 2021

Last updated: 8 February 2022

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1

Kumar, Dr M. Sampath, Anchal Mohanty, and Meghana Beesu E. Sai Kiran. "All Terrain Offensive and Defensive Robot." International Journal of Trend in Scientific Research and Development Volume-3, Issue-3 (2019): 1438–40. http://dx.doi.org/10.31142/ijtsrd23370.

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2

Pecie, Robert Florian, Mihai Olimpiu Tătar, and Călin Rusu. "Studies on mobile robots for all types of terrain." MATEC Web of Conferences 343 (2021): 08015. http://dx.doi.org/10.1051/matecconf/202134308015.

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In the first part of the paper, the authors present the characteristics of the robots for all types of terrain. In the second part, two categories of robots are proposed: a robot with hybrid locomotion system and a modular robot. For the last category, if different modules are combined, a family of modular robots adaptable to different types of terrain can be obtained. The solutions proposed by the authors allow the study of the mobility and adaptability of robots to different types of terrain.

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Luneckas, Tomas. "EVALUATING TERRAIN IRREGULARITY BY ROBOT POSTURE / PAVIRŠIAUS NETOLYGUMO VERTINIMAS PAGAL ROBOTO PADĖTĮ." Mokslas - Lietuvos ateitis 3, no. 1 (2011): 96–99. http://dx.doi.org/10.3846/mla.2011.020.

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A method that allows evaluate the terrain irregularity by a robot posture is presented in this paper. A necessity to evaluate terrain irregularity is pointed out. Description of irregular terrain is given. A possibility to evaluate terrain irregularity by feet coordinate standard deviation is proposed. When deviation is σ = 0, all robots are in one plane. Bigger σ the more robot legs are scattered, meaning robot is walking in irregular terrain. A method to evaluate robot horizontality according to terrain by position of three planes is introduced.

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Ziemniak, Paweł, Dariusz Uciński, and Andreas Paczynski. "Control System for an All-Terrain Mobile Robot." Solid State Phenomena 147-149 (January 2009): 43–48. http://dx.doi.org/10.4028/www.scientific.net/ssp.147-149.43.

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An idea of a control system architecture for a new wheeled mobile robot is proposed. The robot construction is characterized by an original drive mechanism and constitutes an extension of the previous research performed in Hochschule Ravensburg-Weingarten. In the new construction, the robot is given the ability to rise or lower its chassis. No complicated additional hardware is required as the level of the chassis can be changed by means of torque differences on the wheels. A modular approach is adopted to develop a hierarchical two-level and layered control system. Low and high levels corresp

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Li, Yan Jie, Fu De Wang, and Zhi Hui Kou. "Dynamics Modeling and Simulation of a Six-Wheel All-Terrain Mobile Robot Based on ADAMS." Applied Mechanics and Materials 101-102 (September 2011): 516–20. http://dx.doi.org/10.4028/www.scientific.net/amm.101-102.516.

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A novel structure of a six-wheel all-terrain mobile robot with the integration of active and passive control is presented in this paper. According to different complex terrain environments, three-dimensional simulation models of the six-wheel all-terrain mobile robot were built using ADAMS software and the dynamic simulation analyses under different terrain conditions were accomplished. Using the ADAMS model, the kinematic and dynamic characteristics curves of the whole robot and parts of robot were obtained. The simulation analyses provide the theoretical basis for the optimization of the mec

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6

Zhao, Jianwei, Tao Han, Shouzhong Wang, Chengxiang Liu, Jianhua Fang, and Shengyi Liu. "Design and Research of All-Terrain Wheel-Legged Robot." Sensors 21, no. 16 (2021): 5367. http://dx.doi.org/10.3390/s21165367.

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Aiming at the crossing problem of complex terrain, to further improve the ability of obstacles crossing, this paper designs and develops an all-terrain wheel-legged hybrid robot (WLHR) with strong adaptability to the environment. According to the operation requirements in different road conditions, the robot adopts a wheel and leg compound structure, which can realize the transformation of wheel movement and leg movement to adjust its motion state. The straight and turning process of the robot is analyzed theoretically, the kinematics model is established and solved, and obstacle crossing anal

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Tian, Yuan, and Feng Gao. "Efficient motion generation for a six-legged robot walking on irregular terrain via integrated foothold selection and optimization-based whole-body planning." Robotica 36, no. 3 (2017): 333–52. http://dx.doi.org/10.1017/s0263574717000418.

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SUMMARYIn this paper, an efficient motion planning method is proposed for a six-legged robot walking on irregular terrain. The method provides the robot with fast-generated free-gait motions to traverse the terrain with medium irregularities. We first of all introduce our six-legged robot with legs in parallel mechanism. After that, we decompose the motion planning problem into two main steps: first is the foothold selection based on a local footstep cost map, in which both terrain features and the robot mobility are considered; second is a whole-body configuration planner which casts the prob

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8

Qiao, Tianbo. "Gait Control of Hexapod Robot Based on Field-Programmable Gate Array and Central Pattern Generator." Journal Européen des Systèmes Automatisés 53, no. 6 (2020): 931–37. http://dx.doi.org/10.18280/jesa.530619.

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This paper attempts to improve the terrain adaptability of hexapod robot through gait control. Firstly, the multi-leg coupling in the tripodal gait of the hexapod robot was modeled by Hopf oscillator. Then, annular central pattern generator (CPG) was adopted to simulate the leg movements of hexapod robot between signals. Furthermore, a physical prototype was designed for the gait control test on field-programmable gate array (FPGA), and the algorithm of the rhythmic output of the model was programmed in Verilog, a hardware description language. Finally, the effectiveness of our gait control me

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Wang, Xin, Baisong Yang, Di Tan, et al. "Bioinspired footed soft robot with unidirectional all-terrain mobility." Materials Today 35 (May 2020): 42–49. http://dx.doi.org/10.1016/j.mattod.2019.12.028.

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10

Zhu, Yaguang, Chaoyu Jia, Chao Ma, and Qiong Liu. "SURF-BRISK–Based Image Infilling Method for Terrain Classification of a Legged Robot." Applied Sciences 9, no. 9 (2019): 1779. http://dx.doi.org/10.3390/app9091779.

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In this study, we propose adaptive locomotion for an autonomous multilegged walking robot, an image infilling method for terrain classification based on a combination of speeded up robust features, and binary robust invariant scalable keypoints (SURF-BRISK). The terrain classifier is based on the bag-of-words (BoW) model and SURF-BRISK, both of which are fast and accurate. The image infilling method is used for identifying terrain with obstacles and mixed terrain; their features are magnified to help with recognition of different complex terrains. Local image infilling is used to improve low a

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11

Kamikawa, Kenji, Tomohito Takubo, Yasushi Mae, Kenji Inoue, and Tatsuo Arai. "Omni-Directional Gait of Multi-Legged Robot on Rough Terrain by Following the Virtual Plane." Journal of Robotics and Mechatronics 24, no. 1 (2012): 71–85. http://dx.doi.org/10.20965/jrm.2012.p0071.

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This paper proposes a simple gait algorithm for multilegged robots on slopes or rough terrain. This algorithm enables a robot follow a virtual plane defined by grounding points of the legs. The robot does not recognize the surrounding rough terrain. This proposed algorithm has been applied to an actual robot and proven. The robot has a touch sensor on the tip of each leg. The sensors detect contact with the ground, allowing the leg to be planted stably. When the robot moves over rough terrain, the robot body inclines as if becoming parallel to the virtual plane that is defined by the support p

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12

Fang, Shu, Zhen Wei Zhang, and Lei Zhang. "Turning Dynamics of Series Hybrid Power All-Terrain Vehicle." Advanced Materials Research 512-515 (May 2012): 2620–24. http://dx.doi.org/10.4028/www.scientific.net/amr.512-515.2620.

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The complex and unstructured working environment of all-terrain vehicle cause large resistance when they are turning. The turning power which affects a lot on the mobility of all-terrain vehicle is much larger than the power in running straight. In this paper, a series hybrid power system of an all-terrain fire robot was discussed, the turning model of the robot is simplified to 2D mechanical model, force analysis was made, a power formula in which the power is only related to the drag coefficient and relative turning radius was derived, and a dynamic model based on the driving power of latera

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13

Pradhan, Debesh, Jishnu Sen, and Nirmal Baran Hui. "Design and development of an automated all-terrain wheeled robot." Advances in robotics research 1, no. 1 (2014): 21–39. http://dx.doi.org/10.12989/arr.2014.1.1.021.

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14

Zhu, Hongbo, Minzhou Luo, and Jingzhao Li. "Optimization-based gait planning and control for biped robots utilizing the optimal allowable ZMP variation region." Industrial Robot: An International Journal 45, no. 4 (2018): 469–80. http://dx.doi.org/10.1108/ir-01-2018-0011.

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Purpose The purpose of this study is to present an optimization-based gait planning method for biped robots according to the conditions of terrain, which takes fully the relationship between walking stability margin and energy efficiency into account. Design/methodology/approach First, the authors newly designed a practical gait motion synthesis algorithm by using the optimal allowable zero moment point (ZMP) variation region (OAZR), which can generate different gait motions corresponding to different terrains based on the modifiability of ZMP in lateral (y-axis) direction. Second, an effectiv

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15

Roslee, H. H., J. C. Tew, M. A. U. Ismail, et al. "Development of Theo Jansen inspired all-terrain quadruped mini mobile robot." Journal of Physics: Conference Series 1969, no. 1 (2021): 012009. http://dx.doi.org/10.1088/1742-6596/1969/1/012009.

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16

Chen, Wei, Qianjie Liu, Huosheng Hu, Jun Liu, Shaojie Wang, and Qingyuan Zhu. "Novel Laser-Based Obstacle Detection for Autonomous Robots on Unstructured Terrain." Sensors 20, no. 18 (2020): 5048. http://dx.doi.org/10.3390/s20185048.

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Obstacle detection is one of the essential capabilities for autonomous robots operated on unstructured terrain. In this paper, a novel laser-based approach is proposed for obstacle detection by autonomous robots, in which the Sobel operator is deployed in the edge-detection process of 3D laser point clouds. The point clouds of unstructured terrain are filtered by VoxelGrid, and then processed by the Gaussian kernel function to obtain the edge features of obstacles. The Euclidean clustering algorithm is optimized by super-voxel in order to cluster the point clouds of each obstacle. The characte

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17

Yoneda, Kan, Yusuke Ota, Fumitoshi Ito, and Shigeo Hirose. "Quadruped Walking Robot with Reduced Degrees of Freedom." Journal of Robotics and Mechatronics 13, no. 2 (2001): 190–97. http://dx.doi.org/10.20965/jrm.2001.p0190.

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We advocate the effectiveness of a walking robot to have a structure with a reduced DOF, not based on a model of real animals, to make the robot lightweight and practical, and discuss a technique for reducing the active degrees of freedom (DOF) of a quadruped walking robot as an example for realizing such objectives. If functions required of a quadruped walking robot are properly organized and the required active DOF is examined, 4 active DOF make it possible to select an arbitrary position on uneven terrain and to move in all directions. We describe a mechanism with 4 active DOF and 2 passive

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18

Jmel, Ines, Habib Dimassi, Salim Hadj-Said, and Faouzi M’Sahli. "Adaptive Observer-Based Sliding Mode Control for a Two-Wheeled Self-Balancing Robot under Terrain Inclination and Disturbances." Mathematical Problems in Engineering 2021 (January 6, 2021): 1–15. http://dx.doi.org/10.1155/2021/8853441.

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This paper investigates an output feedback sliding mode control scheme for a two-wheeled self-balancing robot under terrain inclination and disturbances. First of all, an adaptive high-gain observer is designed for the robot to estimate, simultaneously, the unmeasured states and the unknown terrain inclination angle which appears nonlinearly in the dynamics of the wheeled robot, using the only measured linear and angular positions. Then, the estimated states and the reconstructed unknown inclination angle are used by an appropriate continuously implemented sliding mode controller whose the des

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19

Kim, In Ho, Jae Seong Lee, Woo Young Jeong, Jang Hyun Kim, and Hyun Seok Yang. "Design Morphological Changing All-Terrain-Rover and Optimizing with Genetic Algorithm for Enhancing Mobility." Applied Mechanics and Materials 619 (August 2014): 242–48. http://dx.doi.org/10.4028/www.scientific.net/amm.619.242.

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This paper proposes a design of morphological changing all-terrain-rover as new concept of hybrid-type mobile robot for enhancing mobility. Mobility evaluation is performed by mechanical theories, and its calculating methods are used for simulations. A feasibility of suggested design of all-terrain-rover is investigated by simulation. After verifying feasibility, this paper applies a PD control with the genetic algorithm as optimizing gains for enhancing mobility. The mobility is able to verify by fitness value from simulation results, and it shows that proposed rover can overcome a mobility l

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Manawadu, Udaka A., Hiroaki Ogawa, Keito Shishiki, et al. "Towards Developing a Teleoperation System for a Disaster Response Robot." SHS Web of Conferences 102 (2021): 04005. http://dx.doi.org/10.1051/shsconf/202110204005.

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Standard Disaster Robotics Challenge of World Robot Summit (WRS) aims to test the ability of robots that can be used as disaster response robots. Robot Engineering Lab of the University of Aizu is developing a robotic system to address challenges in the WRS. The competition has five stages, and the teleoperation robotic system had to be developed to satisfy the requirements of each challenge. REL uses a disaster-response robot called Giraffe, which has the capability of traveling in hard terrain. Open Robot Technology Middleware uses to integrate all of the subsystems inside the robot. Each su

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Terefe, Tesfaye Olana, Hirpa G. Lemu, and Addisu K/Mariam. "Review and synthesis of a walking machine (Robot) leg mechanism." MATEC Web of Conferences 290 (2019): 08012. http://dx.doi.org/10.1051/matecconf/201929008012.

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A walking machine (robot) is a type of locomotion that operates by means of legs and/or wheels on rough terrain or flat surface. The performance of legged machines is greater than wheeled or tracked walking machines on an unstructured terrain. These types of machines are used for data collections in a variety of areas such as large agricultural sector, dangerous and rescue areas for a human. The leg mechanism of a walking machine has a different joint in which a number of motors are used to actuate all degrees of freedom of the legs. In the synthesis of walking machine reported in this article

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22

Miková, Lubica. "DESIGN AND STRESS ANALYSIS OF WHEEL MOBILE ROBOT." TECHNICAL SCIENCES AND TECHNOLOGIES, no. 3(17) (2019): 162–67. http://dx.doi.org/10.25140/2411-5363-2019-3(17)-162-167.

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Urgency of the research. In the context of design of new, improved devices or technical systems containing electronic elements, we are increasingly encountering the concepts like mechatronics, mechatronic systems, mechatronics system solving approach or just simply mechatronics. The impact of mechatronics is most noticeable in mobile mechatronic products, especially in the automotive industry, where mechatronic systems are increasingly being used. Target setting. The design a wheeled chassis with improved ability to cross rugged terrain. Its indivitual parts are subject of simualtions and stre

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Megantoro, Prisma, Herlambang Setiadi, and Brahmantya Aji Pramudita. "All-terrain mobile robot desinfectant sprayer to decrease the spread of COVID-19 in open area." International Journal of Electrical and Computer Engineering (IJECE) 11, no. 3 (2021): 2090. http://dx.doi.org/10.11591/ijece.v11i3.pp2090-2100.

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The application of disinfection is becoming popular in recent months due to the COVID-19. Usually, the disinfection is used by spraying the liquid into an object. However, the disinfection process for humans and objects in the human environment is still done manually and takes time and increases exposure to viruses. Robotic technology can be a solution to handle that problem. Following that problem, robot design is proposed with many abilities and features. The robot can operate in remote conditions and full function for approximately 56 minutes and spray the liquid for more than 1 meter. This

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Rubio, Francisco, Carlos Llopis-Albert, Francisco Valero, and Antonio José Besa. "A new approach to the kinematic modeling of a three-dimensional car-like robot with differential drive using computational mechanics." Advances in Mechanical Engineering 11, no. 3 (2019): 168781401982590. http://dx.doi.org/10.1177/1687814019825907.

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This article presents a kinematic analysis of a four-wheeled mobile robot in three-dimensions, introducing computational mechanics. The novelty lies in (1) the type of robot that is analyzed, which has been scarcely dealt with in the literature, and (2) the methodology used which enables the systematic implementation of kinematic algorithms using the computer. The mobile robot has four wheels, four rockers (like an All-Terrain Mobile Robot), and a main body. It also has two actuators and uses a drive mechanism known as differential drive (like those of a slip/skid mobile robot). We characteriz

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Fućek, Luka, Zdenko Kovačić, and Stjepan Bogdan. "Analytically founded yaw control algorithm for walking on uneven terrain applied to a hexapod robot." International Journal of Advanced Robotic Systems 16, no. 3 (2019): 172988141985799. http://dx.doi.org/10.1177/1729881419857997.

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This article presents a new control algorithm for the omnidirectional motion of a legged robot on uneven terrain based on an analytical kinematic solution without the use of Jacobians. In order to control the robot easily and efficiently in all situations, a simplified circle-based workspace approximation has been introduced. Foot trajectories for legged robot movement were generated on concentric circular paths around an analytically computed common centre of motion. This systematic motion model, together with new gait control variables that can be changed during legged robot motion, enabled

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Lacroix, Simon, Anthony Mallet, David Bonnafous, et al. "Autonomous Rover Navigation on Unknown Terrains: Functions and Integration." International Journal of Robotics Research 21, no. 10-11 (2002): 917–42. http://dx.doi.org/10.1177/0278364902021010841.

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Autonomous long-range navigation in partially known planetary-like terrains is still an open challenge for robotics. Navigating hundreds of meters without any human intervention requires the robot to be able to build various representations of its environment, to plan and execute trajectories according to the kind of terrain traversed, to control its motions and to localize itself as it moves. All these activities have to be scheduled, triggered, controlled and interrupted according to the rover context. In this paper, we briefly review some functionalities that have been developed in our labo

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MATSUKAWA, Ko, and Takeshi AOKI. "2A1-D06 Study of omni-directional all terrain mobile robot with Four-wheel-vehicle Model(Wheeled Robot/Tracked Vehicle (1))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014 (2014): _2A1—D06_1—_2A1—D06_2. http://dx.doi.org/10.1299/jsmermd.2014._2a1-d06_1.

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Wang, Z. Y., X. L. Ding, and A. Rovetta. "Analysis of typical locomotion of a symmetric hexapod robot." Robotica 28, no. 6 (2009): 893–907. http://dx.doi.org/10.1017/s0263574709990725.

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SUMMARYIn recent years hexagonal hexapod robots gained the interest of international research community. The aim of this paper is twofold. First, after summarizing all known gaits of such robots, we introduce some improvements both for normal conditions and for fault tolerance. Then we show the advantages of hexagonal hexapod robots over rectangular ones by comparing different gaits from theoretical and experimental points of view. Stability, fault tolerance, turning ability, and terrain adaptability are analyzed. For reaching these aims we also introduce a robot kinematics that considers at t

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Villaseñor, Carlos, Jorge Rios, Nancy Arana-Daniel, Alma Alanis, Carlos Lopez-Franco, and Esteban Hernandez-Vargas. "Germinal Center Optimization Applied to Neural Inverse Optimal Control for an All-Terrain Tracked Robot." Applied Sciences 8, no. 1 (2017): 31. http://dx.doi.org/10.3390/app8010031.

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TOKUNAGA, Naoki, Yoshito OKADA, Keiji NAGATANI, and Kazuya YOSHIDA. "1A2-H08 Tele-operation of all-terrain robot using continuous acquisition of three-dimensional environment." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2009 (2009): _1A2—H08_1—_1A2—H08_4. http://dx.doi.org/10.1299/jsmermd.2009._1a2-h08_1.

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31

Ersal, Tulga, Youngki Kim, John Broderick, et al. "Keeping Ground Robots on the Move Through Battery & Mission Management." Mechanical Engineering 136, no. 06 (2014): S1—S6. http://dx.doi.org/10.1115/6.2014-jun-4.

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This article summarizes a recent collaboration at the University of Michigan's Automotive Research Center that considered best use of batteries in ground robots from several perspectives, such as planning the mission and tracking energy during its execution. The paper illustrates the four main subproblems addressed in this collaboration. Specifically, an area coverage problem is considered using a tracked robot, and the development of an energy-efficient coverage plan is first addressed. Track-terrain interaction is then modeled to better predict the power consumption due to locomotion on diff

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32

Kudriashov, Andrii, Tomasz Buratowski, Jerzy Garus, and Mariusz Giergiel. "3D Environment Exploration with SLAM for Autonomous Mobile Robot Control." WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL 16 (August 2, 2021): 450–56. http://dx.doi.org/10.37394/23203.2021.16.40.

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In the paper a solution for building of 3D map of unknown terrain for the purposes of control of wheeled autonomous mobile robots operating in an isolated and hard-access area is described. The work environment is represented by a three-dimensional occupancy grid map built with SLAM techniques using LIDAR sensor system. Probabilistic methods such as adaptive Monte Carlo localization and extended Kalman filter are used to concurrently build a map of surroundings and a robot’s pose estimation. A robot’s displacement and orientation are obtained from odometry and inertial navigation system. All a

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Mitkov, Ivan, Veselin Harizanov, and Georgi Komitov. "Determining the energy efficiency of an agrorobot." Agricultural Sciences 13, no. 30 (2021): 73–78. http://dx.doi.org/10.22620/agrisci.2021.30.010.

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The problem of feeding the population and the lack of trained staff for growing crops is increasing all over the world. This inevitably leads to a change in technology for growing crops. These new technologies rely on autonomous robotic systems for the continuous cultivation of crops without human personnel. Robots are small, smart, interconnected, lightweight machines that aim to release the person from the basic everyday pursuits. Globally, there is a trend in agriculture to automate the hard manual labor with continued increases in yields to feed the population. This article discusses the p

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Reddy, Satish Kumar, and Prabir K. Pal. "Detection of traversable region around a mobile robot by computing terrain unevenness from the range data of a 3D laser scanner." International Journal of Intelligent Unmanned Systems 4, no. 2 (2016): 107–28. http://dx.doi.org/10.1108/ijius-08-2015-0009.

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Purpose – The purpose of this paper is to detect traversable regions surrounding a mobile robot by computing terrain unevenness using the range data obtained from a single 3D scan. Design/methodology/approach – The geometry of acquiring range data from a 3D scan is exploited to probe the terrain and extract traversable regions. Nature of terrain under each scan point is quantified in terms of an unevenness value, which is computed from the difference in range of scan point with respect to its neighbours. Both radial and transverse unevenness values are computed and compared with threshold valu

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Irawan, Addie, and Kenzo Nonami. "Compliant Walking Control for Hydraulic Driven Hexapod Robot on Rough Terrain." Journal of Robotics and Mechatronics 23, no. 1 (2011): 149–62. http://dx.doi.org/10.20965/jrm.2011.p0149.

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This article describes the proposed force-based walking method for hydraulically driven hexapod robot named COMET-IV, to walk on the large scale rough terrain. The trajectory is designed where foot step motion for each leg is decided by vertical force on the foot that is calculated from cylinder torque of thigh and shank. This proposed walking trajectory is established with compliant control strategy, which consists of force control based on position range from the trajectory motion signal. This force controller is dynamically control ON/OFF by proposed decision algorithms that derived from th

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Alanis, Alma Y., Jorge D. Rios, Nancy Arana-Daniel, and Carlos Lopez-Franco. "Real-time neural control of all-terrain tracked robots with unknown dynamics and network communication delays." Ingeniería Investigación y Tecnología 21, no. 3 (2020): 1–12. http://dx.doi.org/10.22201/fi.25940732e.2020.21.3.026.

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This work focuses on the design of an intelligent controller that is a considerably large challenge for cyber-physical systems. The proposed controller can deal with unknown dynamics, actuator saturation, unknown external and internal disturbances, unknown communication delays and packet losses. Such a controller is designed using a discrete-time approach based on inverse optimal control and a recurrent high-order neural network identifier. The applicability of the proposed scheme is shown through real-time results using a tracked robot platform controlled through a wireless network under diff

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Belter, Dominik, and Piotr Skrzypczyński. "A biologically inspired approach to feasible gait learning for a hexapod robot." International Journal of Applied Mathematics and Computer Science 20, no. 1 (2010): 69–84. http://dx.doi.org/10.2478/v10006-010-0005-7.

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A biologically inspired approach to feasible gait learning for a hexapod robotThe objective of this paper is to develop feasible gait patterns that could be used to control a real hexapod walking robot. These gaits should enable the fastest movement that is possible with the given robot's mechanics and drives on a flat terrain. Biological inspirations are commonly used in the design of walking robots and their control algorithms. However, legged robots differ significantly from their biological counterparts. Hence we believe that gait patterns should be learned using the robot or its simulatio

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Nakajima, Shuro, and Eiji Nakano. "Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Third Report: Step-Down Gait)." Journal of Robotics and Mechatronics 21, no. 1 (2009): 12–19. http://dx.doi.org/10.20965/jrm.2009.p0012.

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A leg-wheel robot has mechanically separated four legs and two wheels, and it performs high mobility and stability on rough terrains. The adaptive gait for large rough terrains of the leg-wheel robot is composed of three gait strategies. In this paper, the step-down gait, which is one part of the adaptive gait, is described. The point of the flow of the step-down gait is described. When the robot approaches a downward step, a forefoot touches the surface deeply. It forecasts the existence of the downward step by the information on the forefoot's touch point. After that, the robot does the step

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Yan, Dang Hui, De An Zhao, and Hui Liang Shen. "The Mobile Robot Navigation System Design Based on GPS and GIS." Applied Mechanics and Materials 241-244 (December 2012): 1918–21. http://dx.doi.org/10.4028/www.scientific.net/amm.241-244.1918.

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The paper develops an autonomous navigation system with Visual C++ 6.0, combining all-terrain and all-weather mobile robot platform with the high-precision dual-frequency RTK-GPS. The intelligent mobile robot achieves autonomous navigation control. Owing to the four-wheel drive, path tracking is better implemented; Owing to the use of high-precision GPS, position locating is more accurate; Owing to the multithreaded design of the program, real-time requirements of the navigation is better achieved; By the way of map matching of GIS, the path tracking is real-time and the navigation of the robo

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Buzlov, N. A. "Scan Matching for Navigation of a Mobile Robot in Semi-Structured Terrain Conditions." Mekhatronika, Avtomatizatsiya, Upravlenie 22, no. 5 (2021): 246–53. http://dx.doi.org/10.17587/mau.22.246-253.

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To ensure unmanned autonomous movement of ground robotic means, it is required to accurately determine the position and orientation of the robot. The present study is related to the estimation of coordinates by comparing the scans of a laser scanning rangefinder in conditions of semi-structed infrastructure and the absence of a global satellite communications signal. The existing methods of comparing scans have significant drawbacks in the conditions of movement over a semi-structured terrain, associated both with the processing time of data from the laser scanning rangefinder, and with the qu

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Eckert, Peter, Anja EM Schmerbauch, Tomislav Horvat, et al. "Towards rich motion skills with the lightweight quadruped robot Serval." Adaptive Behavior 28, no. 3 (2019): 129–50. http://dx.doi.org/10.1177/1059712319853227.

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Bio-inspired robotic designs introducing and benefiting from morphological aspects present in animals allowed the generation of fast, robust, and energy-efficient locomotion. We used engineering tools and interdisciplinary knowledge transferred from biology to build low-cost robots, able to achieve a certain level of versatility. Serval, a compliant quadruped robot with actuated spine and high range of motion in all joints, was developed to address the question of what mechatronic complexity is needed to achieve rich motion skills. In our experiments, the robot presented a high level of versat

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AOKI, Takeshi, and Mizuki SHIMAOKA. "1P1-E08 Development of all terrain vehicle with globular metal spring wheel(Wheeled Robot/Tracked Vehicle(3))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012 (2012): _1P1—E08_1—_1P1—E08_2. http://dx.doi.org/10.1299/jsmermd.2012._1p1-e08_1.

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FRIEDMANN, MARTIN, JUTTA KIENER, SEBASTIAN PETTERS, DIRK THOMAS, OSKAR VON STRYK, and HAJIME SAKAMOTO. "VERSATILE, HIGH-QUALITY MOTIONS AND BEHAVIOR CONTROL OF A HUMANOID SOCCER ROBOT." International Journal of Humanoid Robotics 05, no. 03 (2008): 417–36. http://dx.doi.org/10.1142/s0219843608001509.

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Autonomous soccer games represent an extraordinary challenge for autonomous humanoid robots which must act fast and stable while carrying all needed onboard computers, sensors and batteries. In this paper, the development and system integration of hardware and software modules of the 55-cm tall, autonomous humanoid soccer robot Bruno is described to cope with this challenge. Although based on a "minimalistic" design which only uses gyroscopes in the hip but not foot-ground contact sensors for control of balance, versatile and high-quality walking motions have been developed. Fast forward walki

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Sun, Zhang Jun, Jing Long Yan, Chao Quan Li, Yue Ju Li, and Chao Di. "Design and Simulation of a Variable Structure Mobile Robot." Applied Mechanics and Materials 457-458 (October 2013): 672–76. http://dx.doi.org/10.4028/www.scientific.net/amm.457-458.672.

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Combined with the advantages of good protection of global robot, self-equilibrium, easy control of wheeled robot and strong obstacle surmounting ability of turbofan robot, a variable structure mobile robot which has three kinds of basic modalities of global, turbofan and three-wheel is designed. The balancing leg is retracted and the two polymorphic wheels of the robot are closed into a sphere while in the global state, and it could be conveniently threw, carried and make all directional movements on the flat grounds. When confronted with the complicated terrain environments of sand, slopes et

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MICHISHITA, Tomohiro, Tatsuya AKIBA, Yuta TOCHIKUBO, Naohiko HANAJIMA, Hiromitsu HIKITA, and Mitsuhisa YAMASHITA. "1P1-D19 Development of an environment investigation robot using an All Terrain Vehicle : A wire winding steering system." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010 (2010): _1P1—D19_1—_1P1—D19_4. http://dx.doi.org/10.1299/jsmermd.2010._1p1-d19_1.

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D'Amelio Luca Bascetta, Enzo L., Davide A. Cucci, Matteo Matteucci, and Gianluca Bardaro. "A Modelica simulator to support the development of the control system of an autonomous All-Terrain mobile robot." IFAC-PapersOnLine 48, no. 1 (2015): 274–79. http://dx.doi.org/10.1016/j.ifacol.2015.05.017.

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Griffin, Brent, and Jessy Grizzle. "Nonholonomic virtual constraints and gait optimization for robust walking control." International Journal of Robotics Research 36, no. 8 (2017): 895–922. http://dx.doi.org/10.1177/0278364917708249.

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A key challenge in robotic bipedal locomotion is the design of feedback controllers that function well in the presence of uncertainty, in both the robot and its environment. This paper addresses the design of feedback controllers and periodic gaits that function well in the presence of modest terrain variation, without over-reliance on perception and a priori knowledge of the environment. Model-based design methods are introduced and subsequently validated in simulation and experiment on MARLO, an underactuated three-dimensional bipedal robot that is of roughly human size and is equipped with

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Dasgupta, Prithviraj, José Baca, K. R. Guruprasad, Angélica Muñoz-Meléndez, and Janyl Jumadinova. "The COMRADE System for Multirobot Autonomous Landmine Detection in Postconflict Regions." Journal of Robotics 2015 (2015): 1–17. http://dx.doi.org/10.1155/2015/921370.

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We consider the problem of autonomous landmine detection using a team of mobile robots. Previous research on robotic landmine detection mostly employs a single robot equipped with a landmine detection sensor to detect landmines. We envisage that the quality of landmine detection can be significantly improved if multiple robots are coordinated to detect landmines in a cooperative manner by incrementally fusing the landmine-related sensor information they collect and then use that information to visit locations of potential landmines. Towards this objective, we describe a multirobot system calle

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Lamarre, Olivier, Oliver Limoyo, Filip Marić, and Jonathan Kelly. "The Canadian Planetary Emulation Terrain Energy-Aware Rover Navigation Dataset." International Journal of Robotics Research 39, no. 6 (2020): 641–50. http://dx.doi.org/10.1177/0278364920908922.

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Future exploratory missions to the Moon and to Mars will involve solar-powered rovers; careful vehicle energy management is critical to the success of such missions. This article describes a unique dataset gathered by a small, four-wheeled rover at a planetary analog test facility in Canada. The rover was equipped with a suite of sensors designed to enable the study of energy-aware navigation and path planning algorithms. The sensors included a colour omnidirectional stereo camera, a monocular camera, an inertial measurement unit, a pyranometer, drive power consumption monitors, wheel encoders

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Portugal, David, Gonçalo Cabrita, Bruno D. Gouveia, David C. Santos, and José A. Prado. "Retraction notice to: “An autonomous all terrain robotic system for field demining missions” [Robot. Auton. Syst. 70 (2015) 126–144]." Robotics and Autonomous Systems 77 (March 2016): 76. http://dx.doi.org/10.1016/j.robot.2015.11.005.

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