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Journal articles on the topic 'Modular Mobile Robotic Platform'

Author: Grafiati

Published: 4 June 2021

Last updated: 16 February 2022

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1

Catalan, Jose M., Andrea Blanco, Arturo Bertomeu-Motos, Jose V. Garcia-Perez, Miguel Almonacid, Rafael Puerto, and Nicolas Garcia-Aracil. "A Modular Mobile Robotic Platform to Assist People with Different Degrees of Disability." Applied Sciences 11, no. 15 (August 2, 2021): 7130. http://dx.doi.org/10.3390/app11157130.

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Robotics to support elderly people in living independently and to assist disabled people in carrying out the activities of daily living independently have demonstrated good results. Basically, there are two approaches: one of them is based on mobile robot assistants, such as Care-O-bot, PR2, and Tiago, among others; the other one is the use of an external robotic arm or a robotic exoskeleton fixed or mounted on a wheelchair. In this paper, a modular mobile robotic platform to assist moderately and severely impaired people based on an upper limb robotic exoskeleton mounted on a robotized wheel chair is presented. This mobile robotic platform can be customized for each user’s needs by exploiting its modularity. Finally, experimental results in a simulated home environment with a living room and a kitchen area, in order to simulate the interaction of the user with different elements of a home, are presented. In this experiment, a subject suffering from multiple sclerosis performed different activities of daily living (ADLs) using the platform in front of a group of clinicians composed of nurses, doctors, and occupational therapists. After that, the subject and the clinicians replied to a usability questionnaire. The results were quite good, but two key factors arose that need to be improved: the complexity and the cumbersome aspect of the platform.

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Lenkutis, Tadas, Andrius Dzedzickis, Oleksii Balitskyi, Liudas Petrauskas, Rimgaudas Urbonas, Vytautas Bučinskas, Donatas Valiulis, and Inga Morkvėnaitė-Vilkončienė. "„KUKA YOUBOT“ DINAMINIŲ CHARAKTERISTIKŲ TYRIMAS / RESEARCH OF KUKA YOUBOT DYNAMICAL CHARACTERISTICS." Mokslas - Lietuvos ateitis 11 (February 1, 2019): 1–3. http://dx.doi.org/10.3846/mla.2019.7072.

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In order to maintain competitiveness and a technical edge business entity are increasingly implementing advanced technical solutions in their operational processes, most of which include the installation of various type robotic systems. One of the best known and widely distributed examples of universal robotic system is Kuka-Youbot, which is a modular robotic system developed by KUKA as open source project for education and research. This system consists of two main modules, a robotic arm with 5 degrees of freedom, and a omni-directional mobile platform. It can be assembled in various configuration, such as a stationary robotic arm, a mobile platform, a robotic arm mounted on mobile platform and, two robotics arms mounted on one mobile platform. Positions of robot grabber were determined using two photo cameras of 1920×1080 in resolution, rulers and special algorithm in Matlab software. The longest duration of the vibrations was recorded when rotating Joint II on the vertical plane. The shortest-lasting vibrations were recorded when rotating the Joint V. In order to reduce the duration of the manipulator’s vibration time in operating mode, it is recommended to use the robot’s operating positions located at the horizontal plane.

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Tkáčik, Milan, Adam Březina, and Slávka Jadlovská. "Design of a Prototype for a Modular Mobile Robotic Platform." IFAC-PapersOnLine 52, no. 27 (2019): 192–97. http://dx.doi.org/10.1016/j.ifacol.2019.12.755.

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Dömel, Andreas, Simon Kriegel, Michael Kaßecker, Manuel Brucker, Tim Bodenmüller, and Michael Suppa. "Toward fully autonomous mobile manipulation for industrial environments." International Journal of Advanced Robotic Systems 14, no. 4 (July 1, 2017): 172988141771858. http://dx.doi.org/10.1177/1729881417718588.

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This work presents a concept for autonomous mobile manipulation in industrial environments. Utilizing autonomy enables an unskilled human worker to easily configure a complex robotics system in a setup phase before carrying out fetch and carry operations in the execution phase. In order to perform the given tasks in real industrial production sites, we propose a robotic system consisting of a mobile platform, a torque-controlled manipulator, and an additional sensor head. Multiple sensors are attached which allow for perception of the environment and the objects to be manipulated. This is essential for coping with uncertainties in real-world application. In order to provide an easy-to-use and flexible system, we present a modular software concept which is handled and organized by a hierarchical flow control depending on the given task and environmental requirements. The presented concept for autonomous mobile manipulation is implemented exemplary for industrial manipulation tasks and proven by real-world application in a water pump production site. Furthermore, the concept has also been applied to other robotic systems and other domains for planetary exploration with a rover.

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Verbelen, Yannick, Pieter Taelman, An Braeken, and Abdellah Touhafi. "Reconfigurable and Modular Mobile Robotics Platform for Remote Experiments." International Journal of Online Engineering (iJOE) 9, no. 3 (June 11, 2013): 19. http://dx.doi.org/10.3991/ijoe.v9i3.2554.

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Campeau-Lecours, Alexandre, Hugo Lamontagne, Simon Latour, Philippe Fauteux, Véronique Maheu, François Boucher, Charles Deguire, and Louis-Joseph Caron L'Ecuyer. "Kinova Modular Robot Arms for Service Robotics Applications." International Journal of Robotics Applications and Technologies 5, no. 2 (July 2017): 49–71. http://dx.doi.org/10.4018/ijrat.2017070104.

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This article presents Kinova's modular robotic systems, including the robots JACO2 and MICO2, actuators and grippers. Kinova designs and manufactures robotics platforms and components that are simple, sexy and safe under two business units: Assistive Robotics empowers people living with disabilities to push beyond their current boundaries and limitations while Service Robotics empowers people in industry to interact with their environment more efficiently and safely. Kinova is based in Boisbriand, Québec, Canada. Its technologies are exploited in over 25 countries and are used in many applications, including as service robotics, physical assistance, medical applications, mobile manipulation, rehabilitation, teleoperation and in research in different areas such as computer vision, artificial intelligence, grasping, planning and control interfaces. The article describes Kinova's hardware platforms, their different control modes (position, velocity and torque), control features and possible control interfaces. Integration to other systems and application examples are also presented.

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Saranli, Uluç, Akın Avci, and M. Cihan Ozturk. "A Modular Real-Time Fieldbus Architecture for Mobile Robotic Platforms." IEEE Transactions on Instrumentation and Measurement 60, no. 3 (March 2011): 916–27. http://dx.doi.org/10.1109/tim.2010.2078351.

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Tedder, Maurice, David Chamulak, Li-Ping Chen, Santosh Nair, Andrey Shvartsman, I. Tseng, and Chan-Jin Chung. "An affordable modular mobile robotic platform with fuzzy logic control and evolutionary artificial neural networks." Journal of Robotic Systems 21, no. 8 (2004): 419–28. http://dx.doi.org/10.1002/rob.20023.

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Reinhardt, Dagmar, Ninotschka Titchkosky, Chris Bickerton, Rodney Watt, Dylan Wozniak-O’Connor, Christhina Candido, Densil Cabrera, Mitchell Page, and Sascha Bohnenberger. "Towards onsite, modular robotic carbon-fibre winding for an integrated ceiling structure." Construction Robotics 3, no. 1-4 (September 12, 2019): 23–40. http://dx.doi.org/10.1007/s41693-019-00019-3.

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Abstract Among current adoptions of standard industrial robotic arms for automation and mass customisation in the building industry, robotic fabrication is of interest for bespoke manufacturing and advancing mobile and onsite construction processes. The use of robotic arms can be of significance particularly where access and site conditions limit further construction of building elements to be inserted in an existing architectural fabric. This paper introduces research and development of robotic carbon-fibre winding of an integrated ceiling structure to support open and flexible workspaces scenarios. The project Systems Reef 1.0 explores the potential and viability for an integrated infrastructure that expands standard office-ceiling grid systems to support flexible workspace scenario and the agency of networked, dynamic and self-organising teams. To this extent, multiple soffit-hung, rotational and retractable data booms provide fibre-optic data, electrical cabling and integrated lighting. Through geometrically complex, fibre-reinforced building elements that are robotically manufactured onsite, a new distribution system for data and light can be provided to support individual and multi-group collaborations in a contemporary open-plan office for maximum flexibility. In this paper, we discuss research into the development of robotic carbon-fibre threading sequences and physical demonstrators for an integrated ceiling structure that takes into account local ceiling constraints. Using a KUKA KR10 industrial robot and mobile platform, carbon-fibre threading prototypes were integrated with onsite conditions and synthesised in four physical demonstrators that support data provision for flexible desking in open-plan office environment where prefabrication of large-sized building modules is restricted due to access constraints. The paper discusses challenges in integrating robotic carbon-fibre threading, data-driven occupancy, structural performance and results for workspace flexibility, and concludes with an outlook towards future potentials.

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Kalisperakis, I., T. Mandilaras, A. El Saer, P. Stamatopoulou, C. Stentoumis, S. Bourou, and L. Grammatikopoulos. "A MODULAR MOBILE MAPPING PLATFORM FOR COMPLEX INDOOR AND OUTDOOR ENVIRONMENTS." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B1-2020 (August 6, 2020): 243–50. http://dx.doi.org/10.5194/isprs-archives-xliii-b1-2020-243-2020.

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Abstract. In this work we present the development of a prototype, mobile mapping platform with modular design and architecture that can be suitably modified to address effectively both outdoors and indoors environments. Our system is built on the Robotics Operation System (ROS) and utilizes multiple sensors to capture images, pointclouds and 3D motion trajectories. These include synchronized cameras with wide angle lenses, a lidar sensor, a GPS/IMU unit and a tracking optical sensor. We report on the individual components of the platform, it’s architecture, the integration and the calibration of its components, the fusion of all recorded data and provide initial 3D reconstruction results. The processing algorithms are based on existing implementations of SLAM (Simultaneous Localisation and Mapping) methods combined with SfM (Structure-from-Motion) for optimal estimations of orientations and 3D pointclouds. The scope of this work, which is part of an ongoing H2020 program, is to digitize the physical world, collect relevant spatial data and make digital copies available to experts and public for covering a wide range of needs; remote access and viewing, process, design, use in VR etc.

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Belikov, V., S. Kovalishyn, and L. Papusha. "TRANSPORT PLATFORMS OF MODERN LAND-MOBILE ROBOTS FOR CLANDESTINE CONDUCT OF BATTLE OPERATIONS AND TRANSPORTATION OF LOADS." Collection of scientific works of Odesa Military Academy, no. 11 (December 27, 2019): 79–84. http://dx.doi.org/10.37129/2313-7509.2019.11.79-84.

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The current level of development of robotic systems of armaments, military and special equipment is characterized by an accelerated transition to their construction on a modular basis. Due to this relatively small nomenclature of initial blocks-modules of lower levels can provide a large variety of the type of land-mobile robotic complexes of specialized functionality. There is an opportunity to quickly adapt the necessary robotic military equipment to specific combat conditions, which guarantees the reliable performance of the assigned combat missions. It is proposed to equip the transport platforms for robotic systems of armament, military and special technics by electromechanical engines on the basis of autonomous drive modules with driven forced electric motors on the basis of rare-earth neodymium permanent magnets. At the same time, record high performance transshipment capacity is achieved, which dramatically increases the ability to overcome difficult road impediments. The article deals with the design features of modular transport platforms for modern robotized weapons, military and special equipment systems, which are conditioned by the need for reliable delivery of weapons, ammunition, equipment, foodstuffs and medical supplies to the personnel on the line of contact with the enemy in difficult geoclimatic conditions. It is shown that the necessary quality of realization of the assigned of combat tasks is ensured by the application of the installation on the platforms of autonomous electromechanical drives of driving wheels.

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Novak, Gregor. "Roby-Go, a Prototype for Cooperating MiroSOT Soccer-Playing Robots." Journal of Advanced Computational Intelligence and Intelligent Informatics 9, no. 4 (July 20, 2005): 409–14. http://dx.doi.org/10.20965/jaciii.2005.p0409.

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Perfectly working robot are basics to competitive robot soccer teams. The mobile minirobot we developed is two-wheeled and differentially driven (2WDD), featuring simple, compact, modular construction. The robot's open architecture enables it to be used both as a MiroSOT soccer player and as a mobile platform in such tasks as an independent test bed for multi agent systems (MAS).

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Martinez-Ledezma, Jorge Antonio, Jose Hugo Barron-Zambrano, Alan Diaz-Manriquez, Juan Carlos Elizondo-Leal, Vicente Paul Saldivar-Alonso, and Horacio Rostro-Gonzalez. "Versatile implementation of a hardware–software architecture for development and testing of brain–computer interfaces." International Journal of Advanced Robotic Systems 17, no. 6 (November 1, 2020): 172988142098025. http://dx.doi.org/10.1177/1729881420980256.

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Brain–computer interfaces (BCI) have been focused on improving people’s lifestyles with motor or communication disabilities. However, the utilization of this technology has found news applications, such as increasing human capacities. Nowadays, several researchers are working on probing human capabilities to control several robotic devices simultaneously. The design of BCI is an intricate work that needs a long time to its implementation. For this reason, an architecture to design and implement different types of BCIs is presented in this article. The architecture has a modular design capable of reading various electroencephalography (EEG) sensors and controlling several robotic devices similar to the plug-and-play paradigm. To test the proposed architecture, a BCI was able to manage a hexapod robot and a drone was implemented. Firstly, a mobile robotic platform was designed and implemented. The BCI is based on eye blinking, where a single blinking represents a robot command. The command orders the robot to initiate or stops their locomotion for the hexapod robot. For the drone, a blink represents the takeoff or landing order. The blinking signals are obtained from the prefrontal and frontal regions of the head by EEG sensors. The signals are then filtered using temporal filters, with cutoff frequencies based on delta, theta, alpha, and beta waves. The filtered signals were labeled and used to train a classifier based on the multilayer perceptron (MLP) model. To generate the robot command, the proposal BCI used two models of MLP to ensure the classifier prediction. So, when the two classifiers make the same prediction, within a defined time interval, send the signal to the robot to start or stop its movement. The obtained results show that it is possible to get high precision to control the hexapod robot with a precision of 91.7% and an average of 81.4%.

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Bondyrev, V. E., S. I. Knyazev, V. I. Korolev, and S. F. Jatsun. "Small-size Unmanned Control Algorithm of an Underwater Complex." Proceedings of the Southwest State University 24, no. 4 (February 4, 2021): 166–79. http://dx.doi.org/10.21869/2223-1560-2020-24-4-166-179.

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Purpose of research: The creation of water bodies monitoring systems makes it possible to evaluate environmental situation in various points of monitoring area quickly. One of the main stages of water quality research is sampling, which is currently carried out at stationary posts, which makes it impossible to ensure operational control in various areas of an observation site. The problem can be solved by using mobile robotic platforms. The purpose of this study is to create mathematical model and algorithm for controlling autonomous movement of an underwater robotic device for collecting water samples in a reservoir. Methods. The following problems were solved for this purpose: the structure of the device was developed, which consists of a power frame unit, units of screw electric drives, units of depth and direction rudders. On-board power supply unit, sensor unit providing interaction of underwater vehicle with environment were also developed. Control tasks are formulated. A scheme of device movement in a reservoir has been developed for this purpose. Results. Modular method of trajectory planning is proposed. It is based on a single motion cycle concept, which consists of 2 turns and 2 straight-line stages of 2R2P. A model of control algorithm is also proposed and reactions of apparatus to external disturbances are studied. General dynamics theorems, method of algorithm synthesizing according to inverse dynamics problem were applied when solving problems. Conclusion: As a result of conducted studies, the system response to disturbances acting in longitudinal direction is described, disturbance diagrams are also described, random type with normal distribution law and mass center deviation s from the given position are given.

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Ampatzis, Christos, Elio Tuci, Vito Trianni, Anders Lyhne Christensen, and Marco Dorigo. "Evolving Self-Assembly in Autonomous Homogeneous Robots: Experiments with Two Physical Robots." Artificial Life 15, no. 4 (October 2009): 465–84. http://dx.doi.org/10.1162/artl.2009.ampatzis.013.

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This research work illustrates an approach to the design of controllers for self-assembling robots in which the self-assembly is initiated and regulated by perceptual cues that are brought forth by the physical robots through their dynamical interactions. More specifically, we present a homogeneous control system that can achieve assembly between two modules (two fully autonomous robots) of a mobile self-reconfigurable system without a priori introduced behavioral or morphological heterogeneities. The controllers are dynamic neural networks evolved in simulation that directly control all the actuators of the two robots. The neurocontrollers cause the dynamic specialization of the robots by allocating roles between them based solely on their interaction. We show that the best evolved controller proves to be successful when tested on a real hardware platform, the swarm-bot. The performance achieved is similar to the one achieved by existing modular or behavior-based approaches, also due to the effect of an emergent recovery mechanism that was neither explicitly rewarded by the fitness function, nor observed during the evolutionary simulation. Our results suggest that direct access to the orientations or intentions of the other agents is not a necessary condition for robot coordination: Our robots coordinate without direct or explicit communication, contrary to what is assumed by most research works in collective robotics. This work also contributes to strengthening the evidence that evolutionary robotics is a design methodology that can tackle real-world tasks demanding fine sensory-motor coordination.

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Kimbrough, Andrew G., and James C. Hammond. "4767048 Mobile robotic platform." Robotics and Computer-Integrated Manufacturing 5, no. 4 (January 1989): ii. http://dx.doi.org/10.1016/0736-5845(89)90017-3.

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Murshiduzzaman, Tanveer Saleh, and Md Raisuddin Khan. "Modular robotic platform for autonomous machining." International Journal of Advanced Manufacturing Technology 105, no. 5-6 (November 4, 2019): 2557–67. http://dx.doi.org/10.1007/s00170-019-04427-1.

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Cho, Yongjun, Seong Yong Woo, Su Hwan Song, Hyung Gil Hong, Haeyong Yun, Jang Seok Oh, Junseong Kim, Dong Woo Kim, Kab Ho Seo, and Dae Hee Kim. "A Study on Modular Agricultural Robotic Platform for Upland." Journal of Korea Robotics Society 15, no. 2 (May 31, 2020): 124–30. http://dx.doi.org/10.7746/jkros.2020.15.2.124.

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LIU, YUBIN, RUOPENG WEI, HUIJUAN DONG, YANHE ZHU, and JIE ZHAO. "A DESIGNATION OF MODULAR MOBILE RECONFIGURABLE PLATFORM SYSTEM." Journal of Mechanics in Medicine and Biology 20, no. 09 (September 16, 2020): 2040006. http://dx.doi.org/10.1142/s0219519420400060.

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Mobile robots working in special environment have to adapt for unknown and complex environment characteristics, so high mobility, functional versatility and robustness of mobile robots are required. Different from specialized robot designed for single function in single environment, single unit of modular reconfigurable robots has simple mechanical structure, flexible movement and maneuverability; meanwhile, the combination of multiple units has flexible and versatile configuration, combined with distributed control and swarm intelligence algorithm to gain environmental adaptability and functional versatility of the entire reconfigurable robot system. Single unit of modular mobile reconfigurable robots could complete lightweight tasks such as transporting medicines, distributing and accompanying nurses. Meanwhile, the combination of multiple units could complete heavyweight tasks such as transporting patients and large medical equipment. Modular mobile reconfigurable robot system has broad application prospects in the field of medical auxiliary robots.

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Menon, S. R., S. G. Kapoor, and R. B. Blackmon. "Navigation planning for mobile robotic devices in modular warehouses." International Journal of Advanced Manufacturing Technology 3, no. 4 (August 1988): 47–62. http://dx.doi.org/10.1007/bf02601833.

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Mester, Gyula. "Development of Autonomous Anthropomorphic Wheeled Mobile Robotic Platform." Interdisciplinary Description of Complex Systems 16, no. 1 (2018): 139–48. http://dx.doi.org/10.7906/indecs.16.1.11.

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Konečný, Zdeněk, Petr Široký, Václav Krys, and Tomáš Kot. "Mobile Chassis on a Modular Principle." Applied Mechanics and Materials 816 (November 2015): 294–99. http://dx.doi.org/10.4028/www.scientific.net/amm.816.294.

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The article describes design of a drive module of a modular mobile chassis. This chassis was developed at the Department of Robotics, Faculty of Mechanical Engineering, VŠB-Technical University of Ostrava, as a part of the student grant competition “Research and development of modular robotic systems.” The article describes variants and the final mechanical construction of the drive module and also the structural analysis of this module according to the possible positioning in the whole modular system. The obtained results and possible ways of additional future development and modifications of the module are summarized in the conclusion.

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Graves, Sean, Bill Holman, and Robin A. Felder. "Modular Robotic Workcell for Coagulation Analysis." Clinical Chemistry 46, no. 5 (May 1, 2000): 772–77. http://dx.doi.org/10.1093/clinchem/46.5.772.

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Abstract Background: Total laboratory automation (TLA) has been shown to increase laboratory efficiency and quality. However, modular automation is smaller, requires less initial capital, and requires less planning than TLA. We engineered and performed clinical trials on a modular robotic preanalytical workcell for coagulation analysis. Methods: Timing studies were used to quantify the efficiency of the manual processes and to identify areas in the processing of coagulation specimens where bottlenecks and long waiting periods were encountered. We then designed our modular robotic system to eliminate these bottlenecks. Our robotic modular workcell was engineered to allow a choice of specimen introduction manually, by conveyor, or by mobile robot. Additional timing studies were performed during clinical trials of the robotic system. Results: Prior to automation, the time required for preanalytical processing time was 18–107 min; after automation, it was 45–50 min. Additional improvements in workcell efficiency could be realized when high quality, prelabeled specimens were introduced into the system. Conclusion: Compared with manual methods, modular automation provides more predictable variation in specimen processing.

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Chung, Jae H. "Control of an operator-assisted mobile robotic system." Robotica 20, no. 4 (June 24, 2002): 439–46. http://dx.doi.org/10.1017/s0263574702004113.

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In this paper, two different control methods are developed for an operator-assisted mobile robotic system for high load applications. For high load applications of mobile robots, an accurate tire model that considers wheel slip needs to be studied to achieve robustness of the system response. First, a simple operator-manipulator coordination system is developed based on explicit force control. Then, a position controller for the platform is designed to minimize the effect of wheel slip on control performance and integrated with the force controller for the operator-manipulator subsystem based on a motion coordination scheme. Then, a new type of human-robot coordination control method is developed, in which robust force control of the manipulator and impedance control of the mobile platform are integrated to achieve robust response and smooth interaction between the operator, the manipulator and the mobile platform. In simulation, the developed methods are compared for control performance on following the operator's motion intention.

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Crha, Jan, and Ondřej Ťupa. "Mobile Gait Tracking Using Ms Kinect and Robotic Platform." Transactions of the VŠB - Technical University of Ostrava, Mechanical Series 61, no. 1 (September 30, 2015): 1–7. http://dx.doi.org/10.22223/tr.2015-1/1992.

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Jada, Chakravarthi, Lokesh chintala, Ashok Urlana, Shaik Gouse Basha, and Pavan Baswani. "BflyBot: Mobile robotic platform for implementing Butterfly mating phenomenon." IFAC-PapersOnLine 51, no. 1 (2018): 512–17. http://dx.doi.org/10.1016/j.ifacol.2018.05.086.

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Hasler, O., and S. Nebiker. "IMAGE-BASED ORIENTATION DETERMINATION OF MOBILE SENSOR PLATFORMS." International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B1-2021 (June 28, 2021): 215–20. http://dx.doi.org/10.5194/isprs-archives-xliii-b1-2021-215-2021.

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Abstract. Estimating the pose of a mobile robotic platform is a challenging task, especially when the pose needs to be estimated in a global or local reference frame and when the estimation has to be performed while the platform is moving. While the position of a platform can be measured directly via modern tachymetry or with the help of a global positioning service GNSS, the absolute platform orientation is harder to derive. Most often, only the relative orientation is estimated with the help of a sensor mounted on the robotic platform such as an IMU, with one or multiple cameras, with a laser scanner or with a combination of any of those. Then, a sensor fusion of the relative orientation and the absolute position is performed. In this work, an additional approach is presented: first, an image-based relative pose estimation with frames from a panoramic camera using a state-of-the-art visual odometry implementation is performed. Secondly, the position of the platform in a reference system is estimated using motorized tachymetry. Lastly, the absolute orientation is calculated using a visual marker, which is placed in the space, where the robotic platform is moving. The marker can be detected in the camera frame and since the position of this marker is known in the reference system, the absolute pose can be estimated. To improve the absolute pose estimation, a sensor fusion is conducted. Results with a Lego model train as a mobile platform show, that the trajectory of the absolute pose calculated independently with four different markers have a deviation < 0.66 degrees 50% of the time and that the average difference is < 1.17 degrees. The implementation is based on the popular Robotic Operating System ROS.

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Sell, R., E. Väljaots, T. Pataraia, and E. Malayjerdi. "Modular smart control system architecture for the mobile robot platform." Proceedings of the Estonian Academy of Sciences 68, no. 4 (2019): 395. http://dx.doi.org/10.3176/proc.2019.4.08.

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Korotkov, A. L., D. M. Korolev, and N. A. Kitaev. "Modular Mobile Robotic Kit for Prototyping and Debugging of Control Algorithms." MEHATRONIKA, AVTOMATIZACIA, UPRAVLENIE 19, no. 3 (March 7, 2018): 175–82. http://dx.doi.org/10.17587/mau.19.175-182.

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Avilés S., Oscar F., Oscar G. Rubiano M, Mauricio F. Mauledoux M, Angie J. Valencia C, and Robinson Jiménez M. "Simulation of a Mobile Manipulator on Webots." International Journal of Online Engineering (iJOE) 14, no. 02 (February 28, 2018): 90. http://dx.doi.org/10.3991/ijoe.v14i02.7789.

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A mobile manipulator is a mobile platform with a mounted serial manipulator. A Mobile Manipulator is a system subject to its kinematic restrictions and the degrees of freedom of the manipulator arm mounted on it. These systems combine the advantages of mobile platforms and robotic arms, and reduce their disadvantages. For example, a mobile manipulator has larger working space when it has a mobile platform, as it offers more functionality during operation. For the previously mentioned in this work will be shown the implementation in the robotic simulation software Webots, a mobile manipulator that allows to determine its operation in a virtual environment

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Gussu, Tesfaye Wakessa, and Chyi-Yeu Lin. "Geometry Based Approach to Obstacle Avoidance of Triomnidirectional Wheeled Mobile Robotic Platform." Journal of Sensors 2017 (2017): 1–10. http://dx.doi.org/10.1155/2017/2849537.

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Mobile robots undergo a collision-free autonomous motion by using the information obtained from a suitable combination of multiple sensors of same or different families. These sensors are often configured around the chassis of the robotic platform. However, little to no information is available as to how these sensors are configured on mobile robotic platforms and how many of these sensors to place on such platforms. Instead, an empirical approach is adopted. That is, the number of sensors of the same family or any type as well as combination of sensors for detecting obstacles is determined by experiment or information obtained from external sensors. This approach is often seen to be iterative and time consuming. In this paper, an approach for determining the minimum number of sensors and their spacing on the robotic platform is proposed so that mobile robots undergo collision-free motion. The effectiveness of the developed approach is experimentally tested by examining the obstacle avoidance capability of the triomnidirectional wheeled robotic platform based on a motion triggering signal obtained from a skirt of ultrasonic sensors only. It was observed that the newly developed approach allows this robotic platform to avoid obstacles effectively.

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Cuevas, Erik, Daniel Zaldivar, and Marco Pérez-Cisneros. "Low-Cost Commercial Lego™ Platform for Mobile Robotics." International Journal of Electrical Engineering & Education 47, no. 2 (April 2010): 132–50. http://dx.doi.org/10.7227/ijeee.47.2.4.

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This paper shows the potential of a Lego™-based low-cost commercial robotic platform for learning and testing prototypes in higher education and research. The overall set-up aims to explain mobile robotic issues, including mechatronics, robotics and automatic control theory. The capabilities and limitations of Lego robots are studied within two experiments: the first shows how to eliminate a number of restrictions in Lego robots using some programming alternatives; the second addresses the complex problem of multi-position control. Algorithms and their additional tools have been fully designed, applied and documented, and the results are shown throughout the paper. The platform was found to be suitable for teaching and researching key issues related to the aforementioned fields.

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Antonov, Anton Vadimovich, Sergei Anatolyevich Vorotnikov, Andrei Yurievich Vukolov, Denis Vladimirovich Saschenko, and Georgy Vyacheslavovich Shashurin. "Mathematical Model of 3-P Wheel-Legged Mobile Robotic Platform." International Review of Mechanical Engineering (IREME) 11, no. 5 (May 31, 2017): 311. http://dx.doi.org/10.15866/ireme.v11i5.11564.

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Carbone, Giuseppe, Franco Tedeschi, Arturo Gallozzi, and Michela Cigola. "A Robotic Mobile Platform for Service Tasks in Cultural Heritage." International Journal of Advanced Robotic Systems 12, no. 7 (July 10, 2015): 88. http://dx.doi.org/10.5772/60527.

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Onwubolu, G. C., I. Jannif, M. Tazil, and A. Singh. "Mobile robotic platform controller with an effective data communication protocol." Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture 220, no. 7 (July 2006): 1175–88. http://dx.doi.org/10.1243/09544054jem535.

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Ryadchikov, I., E. Nikulchev, S. Sechenev, M. Drobotenko, A. Svidlov, P. Volkodav, and A. Feshin. "Development of robotic mobile platform with the universal chassis system." IOP Conference Series: Materials Science and Engineering 312 (February 2018): 012021. http://dx.doi.org/10.1088/1757-899x/312/1/012021.

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Bakirci, Murat. "COMPLETE LOCOMOTION ANALYSIS OF A SMALL DIFFERENTIALDRIVE MOBILE ROBOTIC PLATFORM." International Journal of Advanced Research 9, no. 09 (September 30, 2021): 53–62. http://dx.doi.org/10.21474/ijar01/13374.

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Mobile robots are becoming a part of more and more research areas due to their structural advantages and the increase in usage areas. Differential drive mobile robots are among the most preferred of this type of robots due to the convenience that they provide in engineering studies. It is quite important to test and structurally investigate primary parts such as motors and its sensors before being used in research applications. Before proceeding to further studies, it is very useful to do such tests as they may provide critical information about the robot which can be quite beneficial in terms of time, effort, and cost. To achieve this task, variety of methods are available in the literature such as structural locomotion tests and system identifiaction. In the first part of this study, locomotion tests of a small mobile robot driven by servo motors and operating with a single microcontroller was performed using the velocity propulsion mode. Three different predefined routes were determined for the robot and the accuracy of the robot moving along these routes was investigated. Through these tests, it is aimed to examine how the robot interprets the basic movements such as rectilinear forward motion, curvilinear motion, and rotation around its own axis. The next part focuses on the system identification of the robot. A data-driven model for the robotic platform was developed to make a mobile robot perform the desired movements and system identification. Various step input commands were sent to the robot under consideration and the responses of the robot wheels to these inputs were examined. Circular movements were made to the robot with a range of velocity input values and the relationship between input and output was examined for both wheels of the robot. In the locomotion tests, it was observed that the robot completed the predetermined routes with minor errors. As a result of these tests, theoretical calculations and experimental results were compared and the reasons for the error parameters were discussed. Through system identification tests, it was observed that the right wheel of the robot was more consistent and produced closer to the expected value for each test performed.

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Dahir, Muna Ali, Alyaa Obaid, Aisha Ali, Amna Mohammed, Ali Abou-ElNour, and Mohammed Tarique. "Mobile Based Robotic Wireless Path Controller." Network Protocols and Algorithms 8, no. 2 (July 21, 2016): 20. http://dx.doi.org/10.5296/npa.v8i2.8947.

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For the past decade robotic systems have been successfully used to perform specific tasks with various degree of intelligence. Now-a-days, commercial robotics solutions are focusing more on personal services. Personal services robots are designed with necessary mobility and functional capabilities so that they can operate in a wide range of environments and can provide variety of services including health care, educational, domestic chore, entertainment, and rehabilitation. These personal robots perform various tasks and duties that are often unpredictable in nature. But, there are some technological challenges that need yet to be resolved. Integrating a robotic system with its components is usually a very complex task. Developing a modular robotic system that can perform well in various environments is also challenging. In addition robots should be provided with necessary skills so that they can perform various tasks. Keeping all these challenges in mind we presents a networked robotic system in this paper. The system is controlled by a smart phone. The path followed by the robot can be monitored via an LED panel. In order to control the operation an Android OS mobile application has been developed. Through this application a user can set a path for the robot to follow or can choose a path from a set of already defined paths. We tested our system in a controlled environments and the test results show that the robot can follow a path (either user defined or chosen) with a high accuracy.

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Yi, Jae-Bong, Taewoong Kang, Dongwoon Song, and Seung-Joon Yi. "Unified Software Platform for Intelligent Home Service Robots." Applied Sciences 10, no. 17 (August 25, 2020): 5874. http://dx.doi.org/10.3390/app10175874.

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Although the mobile manipulation capability is crucial for a service robot to perform physical work without human support, the long-term autonomous operation of such a mobile manipulation robot in a real environment is still a tremendously difficult task. In this paper, we present a modular, general purpose software framework for intelligent mobile manipulation robots that can interact with humans using complex human speech commands; navigate smoothly in tight indoor spaces; and finally detect and manipulate various household objects and pieces of furniture autonomously. The suggested software framework is designed to be easily transferred to different home service robots, which include the Toyota Human Support Robot (HSR) and our Modular Service Robot-1 (MSR-1) platforms. It has successfully been used to solve various home service tasks at the RoboCup@Home and World Robot Summit international service robot competitions with promising results.

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Chen, Buyun, Hao Yang, Boxiang Song, Deming Meng, Xiaodong Yan, Yuanrui Li, Yunxiang Wang, et al. "A memristor-based hybrid analog-digital computing platform for mobile robotics." Science Robotics 5, no. 47 (October 21, 2020): eabb6938. http://dx.doi.org/10.1126/scirobotics.abb6938.

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Algorithms for mobile robotic systems are generally implemented on purely digital computing platforms. Developing alternative computational platforms may lead to more energy-efficient and responsive mobile robotics. Here, we report a hybrid analog-digital computing platform enabled by memristors on a mobile inverted pendulum robot. Our mobile robotic system can tune the conductance states of memristors adaptively using a model-free optimization method to achieve optimal control performance. We implement sensor fusion and the motion control algorithms on our hybrid analog-digital computing platform and demonstrate more than one order of magnitude enhancement of speed and energy efficiency over traditional digital platforms.

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Ceccarelli, Marco, Daniele Cafolla, Matteo Russo, and Giuseppe Carbone. "HeritageBot platform for service in Cultural Heritage frames." International Journal of Advanced Robotic Systems 15, no. 4 (July 1, 2018): 172988141879069. http://dx.doi.org/10.1177/1729881418790692.

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A service robot for Cultural Heritage frames is proposed as a novel robotic platform with a modular design for both ground locomotion and flight capability. The peculiarities of the system are discussed by performance evaluation via simulation. A prototype has been built and tested both to prove the feasibility of the proposed design and to characterize its operation performance.

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Kawabata, Kuniaki, Tsuyoshi Suzuki, Hayato Kaetsu, and Hajime Asama. "Omnidirectional Mobile Platform for Research and Development." Journal of Robotics and Mechatronics 14, no. 2 (April 20, 2002): 105–11. http://dx.doi.org/10.20965/jrm.2002.p0105.

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We detail an omnidirectional mobile platform for research and development (R&D). In 1995, we reported that a special driving mechanism for holonomic omnidirectional mobile robots was designed to enable 3 degree of freedom (DOF) motion control by 3 corresponding actuators decoupled with no redundancy. We constructed a omnidirectional mobile robot prototype with a drive. We took part in a RoboCup tournament as Uttori United with omnidirectional mobile robots: ZEN-450, using our driving mechanism, in 1997, and 2000. ZEN-450 showed high mobility during the tournament However, unpredictable problems occurred because ZEN-450 is not developed for robotic soccer. , We considered improving its hardware as a platform. We report the new platform and test-running results.

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Erdemir, Gokhan, Ahmet Emin Kuzucuoglu, Erkan Kaplanoglu, and Yasser El-Kahlout. "Design and Implementation of Web Based Mobile Robot Control Platform for Robotics Education." Applied Mechanics and Materials 704 (December 2014): 283–87. http://dx.doi.org/10.4028/www.scientific.net/amm.704.283.

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In this paper, we present a particular case of a dynamic, real-time and efficient web-based mobile robot experiment platform (WEB.MREP) design for mobile robotic applications. The design and construction of a multipurpose and WEB.MREP for the application of different path planning and tracking, simultaneous localization and mapping (SLAM) and robot vision techniques for mobile robotic system is the main purpose of this study. The designed and constructed experiment platform consists of five main components: Festo Robotino mobile robot sets, a designed experimental area, a server software, web interfaces (user interfaces) and security measures. The designed platform provides monitoring, real-time controlling and programming of mobile robots for experimental studies and, it helps the users to achieve these studies through a standard web browser without any additional supportive software.

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Koh, Doo-Yeol, Jeong-Jung Kim, Jinseong Park, and Hyung-Suk Han. "Kinematic Model and Verification of the Modular Omni-directional Mobile Platform." Journal of Institute of Control, Robotics and Systems 25, no. 6 (June 30, 2019): 492–97. http://dx.doi.org/10.5302/j.icros.2019.19.0057.

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Wang, Wei, Yaohua Wu, Jun Zheng, and Cheng Chi. "A Comprehensive Framework for the Design of Modular Robotic Mobile Fulfillment Systems." IEEE Access 8 (2020): 13259–69. http://dx.doi.org/10.1109/access.2020.2966403.

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Maroşan, Iosif-Adrian, and George Constantin. "Design of a modular locomotion system for autonomous mobile robots." MATEC Web of Conferences 343 (2021): 08006. http://dx.doi.org/10.1051/matecconf/202134308006.

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Autonomous mobile robots are becoming more popular today and are successfully integrated into many civil and industrial projects. In the industrial sectors flexibility and modularity have an important role, so the production can be diversified and achieved with low costs. This paper presents the conceptual and functional design of a modular locomotion system for an autonomous mobile platform that can be configured according to the needs of the industrial environment it serves. The architecture of the locomotion system is based on a spring suspension system and three types of wheels: conventional wheels, omnidirectional wheels and mechanum wheels. The calculations for the chosen suspension system are presented, which ensure the contact with the ground for each type of wheel and the resignation calculations for the engine that will drive the wheel. Finally, some variants of configurations are presented that can be made on an autonomous mobile platform with these modules.

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Arif, Ali Haider. "A Hybrid Humanoid-Wheeled Mobile Robotic Educational Platform – Design and Prototyping." Indian Journal of Science and Technology 7, no. 12 (December 20, 2014): 2140–48. http://dx.doi.org/10.17485/ijst/2014/v7i12.24.

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You, Won Suk, Byung June Choi, Hyungpil Moon, Ja Choon Koo, and Hyouk Ryeol Choi. "Robotic laboratory automation platform based on mobile agents for clinical chemistry." Intelligent Service Robotics 10, no. 4 (June 6, 2017): 347–62. http://dx.doi.org/10.1007/s11370-017-0233-x.

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Cernohorsky, Josef, and Pavel Jandura. "Robotic Plug-in Combined Charging System with Improved Robustness." Proceedings 42, no. 1 (November 14, 2019): 11. http://dx.doi.org/10.3390/ecsa-6-06550.

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This paper describes the development of an algorithm robotic plug-in of a charging system for mobile platform. In the first chapter, there is a short overview of possibilities of automatic plug-in system, including proprietary industrial solution. In the main part, there is a description of the system based on UR robot with build-in force torque sensors and Intel RealSense Camera. This camera combines IR depth lens with regular RGB camera and six DOF inertial sensor, which is used in our application too. The conventional solution of this problem is usually based on RGB image processing in various state of the art, from simple pattern matching, neural network, or genetic algorithm to complex AI solution. The quality of the solution mostly depends on robustness of image processing. In our cases, we use simple sensor fusion. Thanks to multiple information and constrain of values, we can assume, if the algorithm is proceeding successfully or not. The system uses the internal parameters of the robotic arm, e.g., end-effector position and orientation and force-torque information in tool center point. The next information is RGB camera image and camera depth image, and the inertial unit build in camera. The other important information is the location of the vehicle inlet on the mobile platform, where the shape of mobile platform is considered as a constrain for image processing. The system is validated only on a physical model with CCS type 2 plug and vehicle inlet, because the mobile platform is under construction by another team.

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Rentschler, Mark E., Shane M. Farritor, and Karl D. Iagnemma. "Mechanical Design of Robotic In Vivo Wheeled Mobility." Journal of Mechanical Design 129, no. 10 (October 21, 2006): 1037–45. http://dx.doi.org/10.1115/1.2757189.

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A new approach to laparoscopic surgery involves placing a robot completely within the patient. These in vivo robots are then able to provide visual feedback and task assistance that would otherwise require additional incisions. Wheeled in vivo robots can provide a mobile platform for cameras, graspers, and other sensory devices that assist in laparoscopy. Development of wheeled in vivo mobile robots was achieved through a design process that included modeling, finite element analysis (FEA), bench top testing, and animal tests. Laboratory testing using a wheel test platform identified a helical wheel design as the best candidate. Finite element simulations were then used to better understand how changing the helical wheel geometric parameters affected drawbar force. Several prototype mobile robots were then developed based on these results. The drawbar forces of these robots were measured in the laboratory to confirm the FEA results. Finally, these robots were successfully tested during animal surgeries.

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