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Journal articles on the topic 'All-terrain robots'

Author: Grafiati

Published: 9 September 2021

Last updated: 29 July 2025

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1

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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Dr., M. Sampath Kumar, Mohanty Anchal, and Beesu |. E. Sai Kiran Meghana. "All Terrain Offensive and Defensive Robot." International Journal of Trend in Scientific Research and Development 3, no. 3 (2019): 1438–40. https://doi.org/10.31142/ijtsrd23370.

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Generally, various risky tasks or certain difficult operations cannot be done completely by humans and thus there is need for change in present era. As robots play vital roles in different fields of industries, medical, colleges, home appliances, military and defence, thus robots can be good and effective option for such difficult purposes. The proposed work is to develop an all terrain robot prototype. The robots which are presently in the market works on simple terrains while this project claims to make a prototype which can work on plain surfaces as well as rough surfaces such as forests, h

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Ranjan, Rahul, Seungjae Lee, and Joongeup Kye. "Design of Tactical Multipurpose All–Terrain Mobile Robot." International Journal of Membrane Science and Technology 10, no. 2 (2023): 2224–37. http://dx.doi.org/10.15379/ijmst.v10i2.2799.

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Robotic systems that can assist soldiers in dangerous operations are essential technologies that improve safety and efficiency. This paper presents the development of mobile robots that can assist soldiers with target acquisition and surveillance on the battlefield. We have built a prototype that incorporates a firearm system that can perform shooting tasks. Our aim is to design and develop mobile robots that can cope with challenging scenarios such as terrorist attacks and rescue missions. Our robots can transmit photographic images or live streaming via a spy camera, and based on the visual

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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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Thueer, Thomas, and Roland Siegwart. "Mobility evaluation of wheeled all-terrain robots." Robotics and Autonomous Systems 58, no. 5 (2010): 508–19. http://dx.doi.org/10.1016/j.robot.2010.01.007.

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SONG, Xiao-Kang. "Wheel-terrain Geometric Contact Angle Estimation of All-terrain Mobile Robots." Acta Automatica Sinica 34, no. 7 (2009): 778–83. http://dx.doi.org/10.3724/sp.j.1004.2008.00778.

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Pandey, Anish, Sujeet Singh, Price Kumar, Lalit Kumar Pothal, and Rajiva Lochan Mohanty. "Design and Analysis of All-Terrain Differential-Driven Caterpillar-Wheeled Based Unmanned Fire Extinguisher Robot." Journal of Applied Research and Technology 20, no. 5 (2022): 529–35. http://dx.doi.org/10.22201/icat.24486736e.2022.20.5.1389.

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The usage of wheeled robots in service robots such as planetary exploration robots, pick-and-place robots, cleaning robots, surveillance robots, etc., is continuously increasing day by day. The primary purpose of these service robots is to reduce human resources and minimize human life risk in a hazardous environment. Therefore, in this article, the authors purpose and design the all-terrain differential-driven caterpillar-wheeled based unmanned Fire Extinguisher Robot (FER), which can detect and monitor the fire by using gas (smoke) sensor and temperature sensor. Also, it can extinguish the f

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Tan, Fusheng, Zipeng Yu, Zerun Zhou, Liguo Zhang, and Zhonggang Xiong. "Research on the Key Technology of Ground-Air Inspection Robot for an explosive depot." Journal of Physics: Conference Series 3024, no. 1 (2025): 012035. https://doi.org/10.1088/1742-6596/3024/1/012035.

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Abstract This paper proposes an intelligent inspection system integrating an all-terrain hexapod robot and a UAV for explosive depot surveillance. The system realizes intelligent inspection in a complex terrain environment through multi-sensor fusion perception, positioning and navigation, cooperative communication between UAVs and ground robots, and other technologies.

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Pettinaro, Giovanni C. "Teamwork by swarms of all terrain mobile robots." Industrial Robot: An International Journal 31, no. 6 (2004): 519–26. http://dx.doi.org/10.1108/01439910410566399.

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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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Li, Minggang, Hanxu Sun, Long Ma, Dongshuai Huo, Panpan Gao, and Zhantong Wang. "Experimental Study on the Longitudinal Motion Performance of a Spherical Robot Rolling on Sandy Terrain." Actuators 13, no. 8 (2024): 289. http://dx.doi.org/10.3390/act13080289.

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To provide the necessary theoretical models of sphere–soil interaction for the structural design, motion control, and simulation of spherical robots, this paper derives analytical expressions for traction force and driving torque when spherical robots slide and sink into sandy terrain, based on terramechanics and multibody dynamics. Furthermore, orthogonal experimental analysis identifies the load, joint angular acceleration, and maximum joint angular velocity of spherical robots as influencing factors, highlighting that the load significantly affects their longitudinal motion performance. Exp

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Sutar, Amey V., B. V. Hubballi, and Akash S. Bhosale. "Design and Development of a Four-Wheeled Mobile Robot (WMR) for Any Terrain." Journal of Mechanical Robotics 10, no. 1 (2025): 13–20. https://doi.org/10.46610/jomr.2025.v10i01.002.

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This paper presents the design, development, and analysis of an all-terrain Wheeled Mobile Robot (WMR). A Wheeled Mobile Robot (WMR) is an autonomous robot that uses wheels for locomotion, allowing it to move efficiently on flat surfaces. These robots are commonly used in various applications, from industrial automation to service robots and research platforms. The robot aims to achieve high mobility on diverse terrains, remote teleoperation, and an effective payload handling capability. The research includes the design and implementation of the mechanical structure, electronic components, con

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ISHIKAWA, Teppei, and Makoto YOKOYAMA. "C41 All-Terrain Vehicle Robots with Additionally Controllable Mass." Proceedings of the Symposium on the Motion and Vibration Control 2005.9 (2005): 557–60. http://dx.doi.org/10.1299/jsmemovic.2005.9.557.

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Viet, Dang. "Prototype design and analysis of a mobile robot." Acta Tecnología 10, no. 03 (2024): 103–7. http://dx.doi.org/10.22306/atec.v10i3.221.

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Mobile robots are robots that can move on their own. Robots move in their environment, not fixed to a real location. With the flexibility of the navigation wheel combined with the dynamic system, the wheeled mobile robot is suitable for flexible movement on flat terrain, using tank-like tracks will be suitable for moving on difficult, complex, bumpy terrain. The article introduces a process of developing, designing a mobile robot combining a 4-degree-of-freedom arm with a mobile chassis. Kinematics, dynamics, strength of structure testing and simulation are all calculated in detail. Finally, a

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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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Wang, Zhe, Jianwei Zhao, and Gang Zeng. "Modeling, Simulation and Implementation of All Terrain Adaptive Five DOF Robot." Sensors 22, no. 18 (2022): 6991. http://dx.doi.org/10.3390/s22186991.

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The ability of an off-road robot to traverse obstacles determines whether the robot can complete complex environmental tasks. In order to improve the off-road ability of off-road robots, this paper proposes a new design idea, in which four hub motors are the power system of the robot, the steering system of the robot is composed of a steering machine and a stepping motor, and a five degree of freedom robot model is established. The body structure is designed according to the characteristics of arthropods. The body structure is divided into three modules, and the connecting rod is used as the j

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SONG, Xiaokang. "Kinematics Modeling and Analyses of All-terrain Wheeled Mobile Robots." Chinese Journal of Mechanical Engineering 44, no. 06 (2008): 148. http://dx.doi.org/10.3901/jme.2008.06.148.

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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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Zhao, Fanguang, Congying Chen, Xiaodong Chen, Mingyang Zhang, Jie Yin, and Ziqiong Ren. "Extensible Mecanum wheel intelligent car." Journal of Physics: Conference Series 2396, no. 1 (2022): 012044. http://dx.doi.org/10.1088/1742-6596/2396/1/012044.

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Abstract Today, with the rapid development of robots, intelligent robots can bring us a lot of convenience in all aspects of life. Dangerous and difficult operations can make machines that can adapt to the changes in work tasks and working environments replace manual work. At the same time, they can also ensure personal safety, reduce labor intensity, improve labor productivity, and reduce production costs. As an intelligent mobile robot driven by multiple wheels, the intelligent car has the advantages of small size, lightweight, low cost, and convenient operation. When encountering complex te

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Soto-Guerrero, Daniel, José Gabriel Ramírez-Torres, and Eduardo Rodriguez-Tello. "Kinematic Tripod (K3P): A New Kinematic Algorithm for Gait Pattern Generation." Applied Sciences 14, no. 6 (2024): 2564. http://dx.doi.org/10.3390/app14062564.

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Insects are good examples of ground locomotion because they can adapt their gait pattern to propel them in any direction, over uneven terrain, in a stable manner. Nevertheless, replicating such locomotion skills to a legged robot is not a straightforward task. Different approaches have been proposed to synthesize the gait patterns for these robots; each approach exhibits different restrictions, advantages, and priorities. For the purpose of this document, we have classified gait pattern generators for multi-legged robots into three categories: precomputed, heuristic, and bio-inspired approache

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Shinde, Mr Pruthviraj, Mr Prathamesh Kadam, Mr Hrushikesh Konnur, and Mr Suraj Kharat. "Study of G-Bot." International Journal for Research in Applied Science and Engineering Technology 10, no. 11 (2022): 153–61. http://dx.doi.org/10.22214/ijraset.2022.47275.

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Abstract: This study aims to improve the performance of the vine robot to allow for its movement into hard materials by innovating on a setup that can help it to move through hard materials like rocky terrain, caves, man made covers, etc. increasing its area of use to almost all drilling and surveying activities happening in the industry today and will the time and resources of many of our customers if we succeed in this endeavor. Vine Robots are soft continuum robots design with low-cost fabrication in mind and for the navigation of difficult environments. Unlike traditional robots, which mov

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Tang, Jingtao, and Hang Ma. "Large-Scale Multi-Robot Coverage Path Planning via Local Search (Extended Abstract)." Proceedings of the International Symposium on Combinatorial Search 17 (June 1, 2024): 291–92. http://dx.doi.org/10.1609/socs.v17i1.31586.

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We study graph-based Multi-Robot Coverage Path Planning (MCPP) that aims to compute paths for multiple robots to cover all vertices of a given 2D grid terrain graph G. Existing graph-based MCPP algorithms rely on computing a tree cover on G and then employ the Spanning Tree Coverage (STC) paradigm to generate coverage paths on the decomposed graph D of G. In this paper, we take a different approach by exploring how to systematically search for good coverage paths directly on D. We introduce a new algorithmic framework, called LS-MCPP, which leverages a local search to operate directly on D. We

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Niu, Jixiang, Han Li, Zhenxiong Liu, Wei Liu, and Hejun Xu. "Robot Ground Media Classification Based on Hilbert–Huang Transform and Attention-Based Spatiotemporal Coupled Network." IET Signal Processing 2023 (October 23, 2023): 1–13. http://dx.doi.org/10.1049/2023/4721508.

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With the development of technology, mobile robots are increasingly deployed in real-world environments. To enable robots to work safely in a variety of terrain environments, we proposed a ground-type detection method based on the Hilbert–Huang transform (HHT) and attention-based spatiotemporal coupled network. Taking a dataset containing multiple sets of robot signals from a Kaggle competition as an example; we use the proposed method to classify the signals and thus achieve a terrain classification of the robot’s location. Firstly, the signal data were processed using the discrete wavelet tra

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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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Silva, Alexandre F. Barral, Auderi Vicente Santos, Marco Antonio Meggiolaro, and Mauro Speranza Neto. "A rough terrain traction control technique for all-wheel-drive mobile robots." Journal of the Brazilian Society of Mechanical Sciences and Engineering 32, no. 4 (2010): 489–501. http://dx.doi.org/10.1590/s1678-58782010000400011.

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Kosari, Amirreza, Hossein Maghsoudi, and Abolfazl Lavaei. "Path generation for flying robots in mountainous regions." International Journal of Micro Air Vehicles 9, no. 1 (2016): 44–60. http://dx.doi.org/10.1177/1756829316678877.

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In this paper, a new path planning method is proposed to resolve the problem of two-dimensional terrain following flight of flying robots in mountainous regions. The performance criteria considered for this mission design could include either the minimum vertical acceleration or the minimum flying time. To impose the terrain following/terrain avoidance constraints, various approaches such as least square method, Fourier series method, Gaussian estimation method, and Chebyshev orthogonal polynomial are explored. The resulting optimal control problem is discretized by employing a numerical techn

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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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Zhang, Xiaoping, Yitong Wu, Huijiang Wang, Fumiya Iida, and Li Wang. "Adaptive Locomotion Learning for Quadruped Robots by Combining DRL with a Cosine Oscillator Based Rhythm Controller." Applied Sciences 13, no. 19 (2023): 11045. http://dx.doi.org/10.3390/app131911045.

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Animals have evolved to adapt to complex and uncertain environments, acquiring locomotion skills for diverse surroundings. To endow a robot’s animal-like locomotion ability, in this paper, we propose a learning algorithm for quadruped robots based on deep reinforcement learning (DRL) and a rhythm controller that is based on a cosine oscillator. For a quadruped robot, two cosine oscillators are utilized at the hip joint and the knee joint of one leg, respectively, and, finally, eight oscillators form the controller to realize the quadruped robot’s locomotion rhythm during moving. The coupling b

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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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Ji, Haifeng, Peixing Li, and Zhaoqiang Wang. "Analysis and Simulation of Permanent Magnet Adsorption Performance of Wall-Climbing Robot." Actuators 13, no. 9 (2024): 337. http://dx.doi.org/10.3390/act13090337.

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In response to problems such as insufficient adhesion, difficulty in adjustment, and weak obstacle-crossing capabilities in traditional robots, an innovative design has been developed for a five-wheeled climbing robot equipped with a pendulum-style magnetic control adsorption module. This design effectively reduces the weight of the robot, and sensors on the magnetic adsorption module enable real-time monitoring of magnetic force. Intelligent control adjusts the pendulum angle to modify the magnetic force according to different wall conditions. The magnetic adsorption module, using a Halbach a

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Wang, Chuanwei, Saisai Wang, Hongwei Ma, et al. "Research on the Obstacle-Avoidance Steering Control Strategy of Tracked Inspection Robots." Applied Sciences 12, no. 20 (2022): 10526. http://dx.doi.org/10.3390/app122010526.

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Tracked inspection robots possess prominent advantages in dealing with severe environment rescue, safety inspection, and other important tasks, and have been used widely. However, tracked robots are affected by skidding and slipping, so it is difficult to achieve accurate control. For example, the control parameters of a tracked robot are the same during driving, but the pressure, shear force and steering resistance of the robot on the road surface are different, which affects the steering characteristics of the robot on complex terrain. Based on analysis of the structural parameters and steer

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Tang, Jingtao, and Hang Ma. "Large-Scale Multi-Robot Coverage Path Planning via Local Search." Proceedings of the AAAI Conference on Artificial Intelligence 38, no. 16 (2024): 17567–74. http://dx.doi.org/10.1609/aaai.v38i16.29707.

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We study graph-based Multi-Robot Coverage Path Planning (MCPP) that aims to compute coverage paths for multiple robots to cover all vertices of a given 2D grid terrain graph G. Existing graph-based MCPP algorithms first compute a tree cover on G---a forest of multiple trees that cover all vertices---and then employ the Spanning Tree Coverage (STC) paradigm to generate coverage paths on the decomposed graph D of the terrain graph G by circumnavigating the edges of the computed trees, aiming to optimize the makespan (i.e., the maximum coverage path cost among all robots). In this paper, we take

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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 r

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Chen, Ya, Dianjun Wang, Haoxiang Zhong, Yadong Zhu, Jiaheng Yang, and Chaoxing Wang. "Design and Motion Analysis of a Mobile Robot Based on Linkage Suspension." Journal of Advanced Computational Intelligence and Intelligent Informatics 26, no. 3 (2022): 355–66. http://dx.doi.org/10.20965/jaciii.2022.p0355.

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With the wide application of mobile robots, their environment and tasks are becoming more complex. There are more requirements for its performance, such as improving environmental adaptability, while ensuring efficiency. This study proposes an all-terrain mobile robot with a linkage suspension and its complex kinematics and dynamic model are studied. According to the wheelcenter modeling method, the kinematic characteristics of the six wheels of a mobile robot under irregular terrain are analyzed and the kinematics theoretical model is established. Based on the D’Alembert principle, the dynami

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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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Bouraou, N. I., and A. V. Osovtsev. "Modeling of the Stabilization System of Mobile Robot Equipment in the Conditions of Movement on Terrain with Slopes and Unevenness." Èlektronnoe modelirovanie 46, no. 3 (2024): 114–25. http://dx.doi.org/10.15407/emodel.46.03.114.

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The article is devoted to the development of a system of stabilization and guidance of equipment, which is installed on land-based small-scale mobile robots of the wheel type. During the operation of such objects, problems arise due to modes of movement, over-coming obstacles, movement on terrain with different types and profiles of the terrain. During such a movement, there are disturbances in the place of installation of the equip-ment, which leads to its deviation from the horizon plane. A stabilization system is used to ensure accuracy requirements in a wide range of movement speeds and op

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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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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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Miková, Ľubica. "DESIGN OF A FUNCTIONAL MODEL OF A THREE-WHEELED MOBILE ROBOT." TECHNICAL SCIENCES AND TECHNOLOGIES, no. 3(33) (2023): 53–58. http://dx.doi.org/10.25140/2411-5363-2023-3(33)-53-58.

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Mobile wheeled robots are one of the most widespread group of service robots today. The simplicity of their design and their ability to better negotiate difficult terrain places them at the forefront. In practice, it is possible to find a variety of mobilewheeled robots, which differ from each other in the number and arrangement of wheels, the variety of structural design, or the suspension of the wheels and their suspension. Current statistics confirm that mobile service robots on wheeled chassis are themost numerous design of all realized applications, technical practice has filled with the

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Kivekäs, Klaus, and Antti Lajunen. "Effect of Soil Properties and Powertrain Configuration on the Energy Consumption of Wheeled Electric Agricultural Robots." Energies 17, no. 4 (2024): 966. http://dx.doi.org/10.3390/en17040966.

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Agricultural emissions can be significantly reduced with smart farming, which includes moving away from large conventional tractors to fleets of compact wheeled electric robots. This paper presents a novel simulation modeling approach for an ATV-sized wheeled electric agricultural robot pulling an implement on deformable terrain. The 2D model features a semiempirical tire–soil interaction model as well as a powertrain model. Rear-wheel drive (RWD), front-wheel drive (FWD), and all-wheel drive (AWD) versions were developed. Simulations were carried out on two different soils to examine the ener

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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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Kimura, Hitoshi, Mokutaro Kataoka, and Norio Inou. "Hermetically-Sealed Flexible Mobile Robot “MOLOOP” for Narrow Terrain Exploration." Journal of Robotics and Mechatronics 34, no. 2 (2022): 361–72. http://dx.doi.org/10.20965/jrm.2022.p0361.

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Conventional mobile robots typically use a wheel or crawler mechanism for locomotion. However, these robots often get stuck in narrow spaces. To mitigate this issue, we propose an innovative flexible mobile robot named “MOLOOP” in this study. The proposed robot has double-looped and hermetically-sealed structure and all ground-contact-area moves to the same direction. Three synchronized flexible crawlers generate the driving force within the robot body. The crawler, named “HS crawler,” comprises of loop-connected flexible bags. The entire body of the robot is flexible; therefore, the robot can

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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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Santana, Pedro F., José Barata, and Luís Correia. "Sustainable Robots for Humanitarian Demining." International Journal of Advanced Robotic Systems 4, no. 2 (2007): 23. http://dx.doi.org/10.5772/5695.

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This paper proposes a roadmap for the application of advanced technology (in particular robotics) for the humanitarian demining domain. Based on this roadmap, a portable demining kit to handle urgent situations in remote locations is described. A low-cost four-wheel steering robot with a biologically inspired locomotion control is the base of the kit. On going research on a method for all-terrain piloting, under the morphological computation paradigm is also introduced, along with the behavioural architecture underlying it, the Survival Kit. A multi-agent architecture, the DSAAR architecture,

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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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Adachi, Hironori, Noriho Koyachi, Tatsuya Nakamura, and Eiji Nakano. "Development of Quadruped Walking Robots and Their Gait Study." Journal of Robotics and Mechatronics 5, no. 6 (1993): 548–60. http://dx.doi.org/10.20965/jrm.1993.p0548.

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This paper describes the quadruped walking robots developed at the Mechanical Engineering Laboratory and their gait analysis. Legged locomotion has the potential to adapt itself to changes in walking conditions, but also has problems such as complexity. To overcome these problems, a new link mechanism called ASTBALLEM is used for the legs of the robots, and highly rigid and easily controllable legs are constructed by using this mechanism. To make a legged robot walk stably, it is necessary to provide a suitable gait. In this paper, two kinds of gaits are considered. One is the periodic gait, a

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McGarey, Patrick, Kirk MacTavish, François Pomerleau, and Timothy D. Barfoot. "TSLAM: Tethered simultaneous localization and mapping for mobile robots." International Journal of Robotics Research 36, no. 12 (2017): 1363–86. http://dx.doi.org/10.1177/0278364917732639.

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Tethered mobile robots are useful for exploration in steep, rugged, and dangerous terrain. A tether can provide a robot with robust communications, power, and mechanical support, but also constrains motion. In cluttered environments, the tether will wrap around a number of intermediate ‘anchor points’, complicating navigation. We show that by measuring the length of tether deployed and the bearing to the most recent anchor point, we can formulate a tethered simultaneous localization and mapping (TSLAM) problem that allows us to estimate the pose of the robot and the positions of the anchor poi

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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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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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Jiang, Baisheng. "A PID Tuning Method for Hexapod Gait Control Based on Genetic Algorithm." Highlights in Science, Engineering and Technology 71 (November 28, 2023): 61–67. http://dx.doi.org/10.54097/hset.v71i.12377.

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Hexapods are widely used in the field of rescue robots that transport in complex terrains which are difficult for traditional wheeled robots to traverse. Currently, the method for hexapod gait control is often PID, a classical method that is universally exploited in all control systems in general. However, the fine-tuning of PID’s hyper-parameters(i.e. kp, ki and kd) mainly rely on chances and the experience of tuners. Therefore, it is both urgent and critical to find an automatic way to get through the tuning process and return optimal results. Aiming at this, this paper puts forward a novel

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