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Journal articles on the topic 'Single-wheel robot'

Author: Grafiati

Published: 4 June 2021

Last updated: 25 July 2025

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1

Wyrwał, Daniel, and Tymoteusz Lindner. "Control algorithm for holonomic robot that balances on single spherical wheel." MATEC Web of Conferences 252 (2019): 02005. http://dx.doi.org/10.1051/matecconf/201925202005.

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This paper presents the control algorithm for the new type of robot that balances on a single spherical wheel. This type of robot is called Ballbot and unlike other statically stable robots, it has a high gravity centre and a very small footprint. The robot is dynamically stable, which means that if the controller stops working, the entire construction will fall over. Because of that, it needs a special control algorithm to keep the balance. The presented Ballbot is fitted with sensors such as gyroscope and accelerometer and controls motors with omni-directional wheels to move the robot in any

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2

Seo, Dongwoo, and Jaeyoung Kang. "Stair-Climbing Wheeled Robot Based on Rotating Locomotion of Curved-Spoke Legs." Biomimetics 9, no. 10 (2024): 633. http://dx.doi.org/10.3390/biomimetics9100633.

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This study proposes a new wheel-leg mechanism concept and formulations for the kinematics and dynamics of a stair-climbing robot utilizing the rotating leg locomotion of curved spokes and rolling tires. The system consists of four motor-driven tires and four curved-spoke legs. The curved-spoke leg is semicircle-like and is used to climb stairs. Once the spoke leg rolls on the surface, it lifts and pulls the mating wheel toward the surface, owing to the kinematic constraint between the spoke and the wheel. Single-wheel climbing is a necessary condition for the stair climbing of whole robots equ

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3

Ni, Yong, Li Li, Jiahui Qiu, et al. "A Novel Wheel-Legged Hexapod Robot." Biomimetics 7, no. 4 (2022): 146. http://dx.doi.org/10.3390/biomimetics7040146.

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Traditional mobile robots are mainly divided into wheeled robots and legged robots. They have good performance at fast-moving speeds and crossing obstacles, and weak terrain adaptability and moving speeds, respectively. Combining the advantages of these two types mentioned, a multi-functional wheel-legged hexapod robot with strong climbing capacity was designed in this paper. Each wheel-leg of the robot is driven directly by a single motor and can move smoothly and quickly in a diagonal tripod gait. Based on the obstacle-crossing way of the wheel-leg and combined with the characteristics of in

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Li, Yunwang, Sumei Dai, Lala Zhao, Xucong Yan, and Yong Shi. "Topological Design Methods for Mecanum Wheel Configurations of an Omnidirectional Mobile Robot." Symmetry 11, no. 10 (2019): 1268. http://dx.doi.org/10.3390/sym11101268.

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A simple and efficient bottom-roller axle intersections approach for judging the omnidirectional mobility of the Mecanum wheel configuration is proposed and proved theoretically. Based on this approach, a sub-configuration judgment method is derived. Using these methods, on the basis of analyzing the possible configurations of three and four Mecanum wheels and existing Mecanum wheel configurations of robots in practical applications, the law determining wheel configuration is elucidated. Then, the topological design methods of the Mecanum wheel configurations are summarized and refined, includ

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Brown, H. B. Jr, and Yangsheng Xu. "A single wheel, gyroscopically stabilized robot." IEEE Robotics & Automation Magazine 4, no. 3 (1997): 39–44. http://dx.doi.org/10.1109/100.618022.

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6

Forouhar, Moein, Mohammad H. Abedin-Nasab, and Guangjun Liu. "Introducing GyroSym: a single-wheel robot." International Journal of Dynamics and Control 8, no. 2 (2019): 404–17. http://dx.doi.org/10.1007/s40435-019-00565-2.

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7

Zhu, Xiaoqing, Ruoyan Wei, Yao Xiao, Xiaogang Ruan, and Zhigang Chen. "Electromagnetic Force Balanced Single-Wheel Robot." Chinese Journal of Electronics 25, no. 3 (2016): 441–47. http://dx.doi.org/10.1049/cje.2016.05.008.

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8

Ye, Changlong, Zhanpeng Liu, Suyang Yu, Zifu Fan, and Yinchao Wang. "Design and Motion Analysis of a Soft-Limb Robot Inspired by Bacterial Flagella." Biomimetics 8, no. 3 (2023): 271. http://dx.doi.org/10.3390/biomimetics8030271.

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Soft robots demonstrate an impressive ability to adapt to objects and environments. However, current soft mobile robots often use a single mode of movement. This gives soft robots good locomotion performance in specific environments but poor performance in others. In this paper, we propose a leg–wheel mechanism inspired by bacterial flagella and use it to design a leg–wheel robot. This mechanism employs a tendon-driven continuum structure to replicate the bacterial flagellar filaments, while servo and gear components mimic the action of bacterial flagellar motors. By utilizing twisting and swi

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9

Gorobtsov, A. S., A. V. Skorikov, P. S. Tarasov, and O. K. Chesnokov. "ROBOT WITH COMBINED WHEEL-STEPPING MOVER." IZVESTIA VOLGOGRAD STATE TECHNICAL UNIVERSITY, no. 9(244) (September 25, 2020): 26–30. http://dx.doi.org/10.35211/1990-5297-2020-9-244-26-30.

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The control of a robot with a wheel-stepping mover that allows movement in two modes is considered. To move on a flat surface, a single-wheel mover unit is used with steering with the help of selected stepping movers. Overcoming obstacles and performing work operations are carried out with the help of walking movers. The synthesis of robot motion control in walking mode and the method of controlling the direction of motion when driving on a single-wheel mover are presented.

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Yan, Feng, Haitao Gao, Lei Zhang, and Yali Han. "Design and motion analysis of multi-motion mode pipeline robot." Journal of Physics: Conference Series 2246, no. 1 (2022): 012029. http://dx.doi.org/10.1088/1742-6596/2246/1/012029.

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Abstract Aiming to improve the adaptability level of single motion form pipeline robots, a wheeled pipeline robot with multiple motion modes is designed. The overall scheme of the pipeline robot is given. The self-adaptive diameter-changing mechanism, wheel displacement mechanism, and turning mechanism are designed. The motion and mechanical models of pipeline robots during travelling are established; on this basis, the robot‘s main body structure is optimised.

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11

Wei, Jiang, Zou De hua, Ma Shuangbao, Ye Gaocheng, and Chen Wei. "Dynamic walking characteristics and control of four-wheel mobile robot on ultra-high voltage multi-split transmission line." Transactions of the Institute of Measurement and Control 44, no. 6 (2021): 1309–22. http://dx.doi.org/10.1177/01423312211043001.

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High-voltage lines are an important channel for power transmission, and multi-split transmission lines are the main strength of power transmission. Compared with double-wheel single-wire maintenance robots, ultra-high-voltage multi-split transmission lines and four-wheel mobile robots have a wider application range and greater demand. The maintenance of multi-split transmission lines relies on the stable walking and control of four-wheel mobile robots on heterogeneous multi-split transmission lines. However, uncertain disturbance factors such as wind load in the complex field environment cause

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12

Li, Shuo Hui, and Xiang Song. "Multi-Legged Robot that Can be Assembled by Two-Wheeled Self-Balance Robots." Applied Mechanics and Materials 615 (August 2014): 122–29. http://dx.doi.org/10.4028/www.scientific.net/amm.615.122.

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In this paper, a multi-legged robot that can be assembled by self-balance robots that have two multi-degree-of-freedom limbs with wheel installed on the end of each limb is proposed. This type of robot has a more efficient way to travel all kinds of territory: not like normal muti-legged robots which has to use legs to move on flat surface like a roads, this type of robot can move like vehicle using wheels on the end of its legs; and not like two wheels self-balance vehicles which cannot travel on rocky surface, this type of robot can use multi-degree-of-freedom limbs to walk on complex surfac

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13

Rashid, Maki K. "Simulation of Intelligent Single Wheel Mobile Robot." International Journal of Advanced Robotic Systems 4, no. 1 (2007): 10. http://dx.doi.org/10.5772/5707.

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14

Mohanraj, A. P., A. Elango, D. Ragavendhiran, P. Vignesh Raja, and K. Ashok. "Design and Movement Analysis of Single Roller Omni Directional Wheeled Robot for Different Assembly Structures." Applied Mechanics and Materials 592-594 (July 2014): 2324–28. http://dx.doi.org/10.4028/www.scientific.net/amm.592-594.2324.

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This paper addresses the movement analysis of square structured and triangular structured Omni directional mobile robots and its combination in the form of octagonal structured mobile robot. The Omni wheel used in this research is having 8 rollers made up of synthetic rubber coated polypropylene rollers. An experiment was setup to analyse the movement of the square, triangular and octagonal structured robot in x-axis, y-axis and rotary motion. This experiment is an attempt of combining square structure and triangular structure robot in a single robot. Omni Directional mobile robot creates anot

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15

Lee, Sangdeok, and Seul Jung. "Detection and control of a gyroscopically induced vibration to improve the balance of a single-wheel robot." Journal of Low Frequency Noise, Vibration and Active Control 37, no. 3 (2017): 443–55. http://dx.doi.org/10.1177/0263092317716075.

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In this article, an experimental investigation of the detection of a gyroscopically induced vibration and the balancing control performance of a single-wheel robot is presented. The balance of the single-wheel robot was intended to be maintained by virtue of the gyroscopic effect induced from a highly rotating flywheel. Since the flywheel rotates at a high speed, an asymmetrical structure of a flywheel causes an irregular rotation and becomes one of the major vibration sources. A vibration was detected and suppressed a priori before applying control algorithms to the robot. Gyroscopically indu

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16

Chen, Zhigang, Xiaogang Ruan, Cheng Li, et al. "Single-wheel robot modelling using natural orthogonal complement." International Journal of System Control and Information Processing 2, no. 1 (2017): 31. http://dx.doi.org/10.1504/ijscip.2017.084257.

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17

Sie, Ouattara, Jianxian Cai, Cheng Li, et al. "Single-wheel robot modelling using natural orthogonal complement." International Journal of System Control and Information Processing 2, no. 1 (2017): 31. http://dx.doi.org/10.1504/ijscip.2017.10005183.

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18

Li, Yunwang, Shirong Ge, Sumei Dai, et al. "Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation." Sensors 20, no. 1 (2019): 75. http://dx.doi.org/10.3390/s20010075.

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In industry, combination configurations composed of multiple Mecanum-wheeled mobile robots are adopted to transport large-scale objects. In this paper, a kinematic model with velocity compensation of the combined mobile system is created, aimed to provide a theoretical kinematic basis for accurate motion control. Motion simulations of a single four-Mecanum-wheeled virtual robot prototype on RecurDyn and motion tests of a robot physical prototype are carried out, and the motions of a variety of combined mobile configurations are also simulated. Motion simulation and test results prove that the

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19

Fang, Lin, Xiaolan Tan, Guangao Huang, Xin Jiang, and Yunhao Xue. "Design and study of a forearm-type wheel-legged obstacle-crossing robot." Journal of Physics: Conference Series 2926, no. 1 (2024): 012006. https://doi.org/10.1088/1742-6596/2926/1/012006.

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Abstract Traditional legged robots suffer from slow movement speed, low energy utilization, complex control and poor reliability, while wheeled robots are deficient in obstacle crossing and environmental adaptability. To address such problems, the project suggests a forearm-type obstacle-crossing robot based on rear-wheel drive. This solution realizes the change from single-point contact of bipedal robots to continuous single-point contact, which improves the stability and moving speed of the system. Meanwhile, the forearm structure reduces the constraints on the moving environment, which give

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20

Song, Meng Jun, Cheng Jun Ding, Xu Long Wang, Yi Zhou, and Hai Song Zhou. "Research on Kinematic for the Mechanism of Wheel-Leg Mobile Robot with Multi-Sports Mode." Advanced Materials Research 1044-1045 (October 2014): 850–53. http://dx.doi.org/10.4028/www.scientific.net/amr.1044-1045.850.

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Based on the walking mechanism and the researching method for the serial-parallel mechanism, one multi-sports mode wheel-leg mobile robot is proposed in this paper; Firstly, the serial mechanism model of one leg is constructed, and the method for constructing the kinematic model of the single leg mechanism is studied; Secondly, based on the study of the single leg mechanism, the kinematic model of the parallel mechanism of the multi-sports mode wheel-leg robot is further constructed when the robot is in the support state; Finally, based on the methods and theories discussed above, the experime

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21

Zhang, Zijian, Xiaojun Cheng, Bilian Yang, and Dong Yang. "Exploration of Indoor Barrier-Free Plane Intelligent Lofting System Combining BIM and Multi-Sensors." Remote Sensing 12, no. 20 (2020): 3306. http://dx.doi.org/10.3390/rs12203306.

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Lofting is an essential part of construction projects and the high quality of lofting is the basis of efficient construction. However, the most common method of lofting currently which uses the total station in a multi-person cooperative way consumes much manpower and time. With the rapid development of remote sensing and robot technology, using robots instead of manpower can effectively solve this problem, but few scholars study this. How to effectively combine remote sensing and robots with lofting is a challenging problem. In this paper, we propose an intelligent lofting system for indoor b

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22

Dang, Nam Kien, and Vu Nguyen. "Dynamic virtual target guidance algorithm for path following control of a 4WD4WS mobile robot." International Journal of Multidisciplinary Research and Growth Evaluation 4, no. 4 (2023): 896–902. http://dx.doi.org/10.54660/.ijmrge.2023.4.4.896-902.

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This paper presents a method of applying a combination of the dynamic virtual target guidance algorithm and sliding mode control (SMC) to control a four-wheel-drive/four-wheel-steer mobile robot (4WD4WS) to follow the trajectory with small curvature, based on visual information captured by a single camera. A kinematic model of four-wheel-drive/four-wheel-steer mobile robot were also present, the proposed controller ensure stability and robustness when operating under uncertainties and disturbances. The process of synthesizing control laws is strictly mathematically guaranteed. The simulation i

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23

Ishigami, Genya, Jim Overholt, and Karl Iagnemma. "Multi-Material Anisotropic Friction Wheels for Omnidirectional Ground Vehicles." Journal of Robotics and Mechatronics 24, no. 1 (2012): 261–67. http://dx.doi.org/10.20965/jrm.2012.p0261.

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In this paper, a novel wheel design utilizing the anisotropic friction property for omnidirectional vehicles is presented. The proposed wheel has a series of bendable “nodes” on its circumference, each of which is made of two materials with differing friction properties: one material exhibits high friction, and the other exhibits low friction. The high friction section of the node generates a high traction force, while the low friction section enables the wheel to passively skid. The wheels are arranged such that the robot wheel exhibits high traction in its drive direction (much like a conven

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Sadeghi, A., H. Moradi, and M. Nili Ahmadabadi. "Analysis, simulation, and implementation of a human-inspired pole climbing robot." Robotica 30, no. 2 (2011): 279–87. http://dx.doi.org/10.1017/s0263574711000579.

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SUMMARYIn this paper, we present the design, static analysis, simulation, and implementation of a novel design for a naturally stable climbing robot that has been inspired from human pole/tree climbers. The other benefits of this robot, besides being naturally stable, are its simple design, ease of control, light weight, simple mechanism, and fast climbing speed. The robot consists of three wheels, two free and one active wheel, which enable the robot to climb or descend poles. The free wheels are almost frictionless, while the active wheel has enough friction to be able to apply force on the

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Nguyen, Thi-Ai-Van, Dinh-Hau Vu, Ha-Gia-Huy Nguyen, et al. "A Method of LQR Using Velocity Control for Unicycle Robot." Robotica & Management 29, no. 2 (2024): 16–25. https://doi.org/10.24193/rm.2024.2.3.

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This study explores the use of Linear Quadratic Regulator (LQR) control to stabilize a unicycle robot, a key example within the unicycle-type mobile robot category. Despite its inherent instability, the unicycle robot offers notable advantages over multi-wheeled, statically stable designs, including reduced spatial requirements due to its single ground contact point. The system is modeled using two axes: the roll axis, represented as an inverted pendulum managed by the wheel, and the pitch axis, modeled as a reaction wheel inverted pendulum controlled by a reaction disk. LQR is recognized as a

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Meng, Fanzhao, Mingwei Li, and Yonghai Yang. "Design of Mopping Robot." Journal of Physics: Conference Series 2468, no. 1 (2023): 012141. http://dx.doi.org/10.1088/1742-6596/2468/1/012141.

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Abstract With the development of Internet of Things and intelligence, cleaning mobile robots have gradually replaced the traditional manual cleaning work, and intelligence has become the main research direction of sweeping robots. As a new product in the field of service robot, mopping robot has made some achievements, but there are still many key technical problems to be solved or improved. In order to improve the safety of products in public places such as shopping malls, a robot with multiple cleaning functions such as vacuuming, mopping and drying is proposed. The mechanical mechanisms mai

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Prado, Maria, Antonio Simón, and Francisco Ezquerro. "Velocity, acceleration and deceleration bounds for a time-optimal planner of a wheeled mobile robot." Robotica 20, no. 2 (2002): 181–93. http://dx.doi.org/10.1017/s0263574701003770.

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Three single-valued upper boundary functions for velocity, acceleration and deceleration of a wheeled mobile robot (WMR) are defined as closed mathematical forms over its entire spatial path. The limits deal with mechanical, kinematic and dynamic characteristics of the robot and with task and operating matters. These boundary functions can be computed making use of any robot model, as complex as is needed, since it works offline.All studies are particularised for the robot RAM. A kinematic and a complete dynamic model of this WMR is built, with special attention on the study of wheel-ground co

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Zhou, Faliang, Xiaojun Xu, Haijun Xu, Teng’an Zou, and Lei Zhang. "Transition mechanism design of a hybrid wheel-track-leg based on foldable rims." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 233, no. 13 (2019): 4788–801. http://dx.doi.org/10.1177/0954406219831029.

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Hybrid mobile robots with multiple locomotion modes are getting more and more popular in search and rescue (SAR) and explosive object disposal (EOD) missions because of their good terrain adaptability. Present researchers devote themselves to develop efficient and reliable transition method between different locomotion modes to make the hybrid robot more compact and flexible. In this paper, we present a novel transition mechanism for a hybrid wheel-track based on foldable rims. The wheel rim is cut into four segments so that it is foldable. And the transition between wheel and track is achieve

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29

Kim, Hyoung Cheol, Suhan Park, and Jaeheung Park. "Calibration of Mobile Robot with Single Wheel Powered Caster." Journal of Korea Robotics Society 17, no. 2 (2022): 183–90. http://dx.doi.org/10.7746/jkros.2022.17.2.183.

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30

Xu, Y., and S. K. W. Au. "Stabilization and Path Following of a Single Wheel Robot." IEEE/ASME Transactions on Mechatronics 9, no. 2 (2004): 407–19. http://dx.doi.org/10.1109/tmech.2004.828642.

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31

Wei, Liu, Lian Luo, and Jiwu Wang. "Spherical Mobile Robot Designed with Single Omnidirectional Wheel Method." Proceedings of International Conference on Artificial Life and Robotics 24 (January 10, 2019): 320–23. http://dx.doi.org/10.5954/icarob.2019.os12-4.

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32

Sun, Junkai, Zezhou Sun, Pengfei Wei, et al. "Path Planning Algorithm for a Wheel-Legged Robot Based on the Theta* and Timed Elastic Band Algorithms." Symmetry 15, no. 5 (2023): 1091. http://dx.doi.org/10.3390/sym15051091.

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Aimed at the difficulty of path planning resulting from the variable configuration of the wheel-legged robot for future deep space explorations, this paper proposes a path planning algorithm based on the Theta* algorithm and Timed Elastic Band (TEB) algorithm. Firstly, the structure of the wheel-legged robot is briefly introduced, and the workspace of a single leg is analyzed. Secondly, a method to judge complete obstacles and incomplete obstacles according to the height of the obstacles is proposed alongside a method to search for virtual obstacles, to generate a grid map of the wheel and a g

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Kubandt, Frederike, Michael Nowak, Tim Koglin, Claudius Gros, and Bulcsú Sándor. "Embodied robots driven by self-organized environmental feedback." Adaptive Behavior 27, no. 5 (2019): 285–94. http://dx.doi.org/10.1177/1059712319855622.

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Which kind of complex behavior may arise from self-organizing principles? We investigate this question for the case of snake-like robots composed of passively coupled segments, with every segment containing two wheels actuated separately by a single neuron. The robot is self-organized both on the level of the individual wheels and with respect to inter-wheel coordination, which arises exclusively from the mechanical coupling of the individual wheels and segments. For the individual wheel, the generating principle proposed results in locomotive states that correspond to self-organized limit cyc

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Singh, Rajmeet, and Tarun Kumar Bera. "Fuzzy Logic Controller for Obstacle Avoidance of Mobile Robot." International Journal of Nonlinear Sciences and Numerical Simulation 20, no. 1 (2019): 51–62. http://dx.doi.org/10.1515/ijnsns-2018-0038.

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AbstractThis work describes design and implementation of a navigation and obstacle avoidance controller using fuzzy logic for four-wheel mobile robot. The main contribution of this paper can be summarized in the fact that single fuzzy logic controller can be used for navigation as well as obstacle avoidance (static, dynamic and both) for dynamic model of four-wheel mobile robot. The bond graph is used to develop the dynamic model of mobile robot and then it is converted into SIMULINK block by using ‘S-function’ directly from SYMBOLS Shakti bond graph software library. The four-wheel mobile rob

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Navabi, Hamed, Soroush Sadeghnejad, Sepehr Ramezani, and Jacky Baltes. "Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller." Advances in Fuzzy Systems 2017 (2017): 1–10. http://dx.doi.org/10.1155/2017/2651976.

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A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the governing dynamic equations of the system. We also describe a novel Fuzzy Sliding Mode Controller (FSMC) implemented to control a spherical wheel mobile robot. The nonlinear nature of the equations makes the controller nontrivial. We compare the performance of four different fuzzy controllers: (a) regulation with one signal, (b)

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Tan, Pham Minh. "Sliding mode path following control of a 4WS mobile robot." International Journal of Multidisciplinary Research and Growth Evaluation 5, no. 5 (2024): 404–14. http://dx.doi.org/10.54660/.ijmrge.2024.5.5.404-414.

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This paper presents a method of applying a combination of the sliding mode control (SMC) and target guidance algorithm to control a four-wheel-steering mobile robot (4WS) to follow the trajectory with small curvature, based on visual information captured by a single camera. A mathematic model of four-wheel-steering mobile robot were also used, the proposed controller ensure stability and robustness when operating under uncertainties and disturbances. The process of synthesizing control laws is strictly mathematically guaranteed. Research results are calculated, simulated, and tested on Matlab.

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Ferreira, Enrique D., Shu-Jen Tsai, Christiaan J. J. Paredis, and H. Benjamin Brown. "Control of the Gyrover: a single-wheel gyroscopically stabilized robot." Advanced Robotics 14, no. 6 (2000): 459–75. http://dx.doi.org/10.1163/156855300741951.

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Baysal, Yesim, and Ismail Altas. "A fast non-dominated sorting multi-objective symbiotic organism search algorithm for energy efficient locomotion of snake robot." Computer Science and Information Systems 19, no. 1 (2022): 353–78. http://dx.doi.org/10.2298/csis210222067b.

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This paper deals with energy efficient locomotion of a wheel-less snake robot. This is very crucial for potential applications of untethered snake robots. The optimum gait parameters for the energy efficient locomotion of the snake robot are obtained with two different multi-objective algorithms based on symbiotic organism search algorithm by considering both minimizing the average power consumption and maximizing the forward velocity of the robot. This paper also investigates the energy efficient locomotion of the snake robot under different environment conditions. The obtained results demons

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Gou, Yun Tao, Ming Yi Zhang, and Dong Xia Zhang. "The Design and Realization of Intelligent Glass Climbing-Cleaning Robot." Applied Mechanics and Materials 401-403 (September 2013): 1720–23. http://dx.doi.org/10.4028/www.scientific.net/amm.401-403.1720.

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We use ATmegal128 single-chip microcomputer as control processor to realize climbing wall-cleaning robot, by using four wheel drive structure and the principle of negative pressure adsorbing. This paper introduces the composition structure, function index of the robot, hardware and software design.The robot experiments show that the robot has a certain ability to adapt to the wall, which can remain stable posture during the cleaning process .Also it can finish surface cleaning work very good w ith characteristics of small volume, easy operation and low cost.

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Manko, S. V., V. M. Lokhin, N. V. Kraynov, and A. N. Malko. "Algorithms for Intelligent Control of Reconfi gurable Robots in a Wheel Confi guration and Multi-Agent Systems Based on them." Mekhatronika, Avtomatizatsiya, Upravlenie 23, no. 8 (2022): 420–29. http://dx.doi.org/10.17587/mau.23.420-429.

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The article provides a brief analysis of the key challenges in the development of mechatronic-modular robots with adaptive kinematic structure, which operational reconfiguration is performed in an automatic mode, depending on the characteristics of the problem and conditions for its solution. It is shown that among the many problems in the development of such robots, one of the most important is in the provision of external sensory functions. The original approach is proposed to create promising samples of the new generation reconfigurable robotic systems with expanded capabilities in sensory,

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Liu, Yuwang, Tao Yang, Dongqi Wang, and Yi Yu. "A low-cost single-motor-driven climbing robot based on overrunning spring clutch mechanisms." International Journal of Advanced Robotic Systems 19, no. 1 (2022): 172988062210797. http://dx.doi.org/10.1177/17298806221079701.

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Forestry monitoring and high-voltage cable inspection demand on low-cost climbing robots. The proposed climbing robot has simple control and low cost, enabling loaded, which drives by a single motor. Based on the overrunning spring clutch mechanisms, two motions of holding and climbing are realized by one motor. A rope-driven gripper is for adaptive enveloping holding effectively and a thron wheel is used to attach the climbing surface and stable climbing. The design parameters of the overrunning spring clutch mechanism and the rope-driven gripper are determined. The prototype and experiment s

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Zhang, Aimin, Renyi Zhou, Tie Zhang, Jingfu Zheng, and Shouyan Chen. "Balance Control Method for Bipedal Wheel-Legged Robots Based on Friction Feedforward Linear Quadratic Regulator." Sensors 25, no. 4 (2025): 1056. https://doi.org/10.3390/s25041056.

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With advancements in mobile robot technology, wheel-legged robots have emerged as promising next-generation mobile solutions, reducing design costs and enhancing adaptability in unstructured environments. As underactuated systems, their balance control has become a prominent research focus. Despite there being numerous control approaches, challenges remain. Balance control methods for wheel-legged robots are influenced by hardware characteristics, such as motor friction, which can induce oscillations and hinder dynamic convergence. This paper presents a friction feedforward Linear Quadratic Re

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Zhu, Xiaorui, Mark A. Minor, and Sungyong Park. "Distributed Robust Control of Compliant Framed Wheeled Modular Mobile Robots." Journal of Dynamic Systems, Measurement, and Control 128, no. 3 (2006): 489–98. http://dx.doi.org/10.1115/1.2229254.

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A distributed robust controller for Compliant Framed wheeled Modular Mobile Robots (CFMMR) is studied in this paper. This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and enhanced steering capability without additional hardware. In this research, a distributed nonlinear damping controller using backstepping techniques for wheel-torque control is first developed for single-axle unicycle type robots. The controller is then extended to multiple-axle CFMMR configurations and is robust to disturbances created by modeling errors; es

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Lee, Sang-Deok, and Seul Jung. "Vibration Control of a Single-wheel Robot Using a Filter Design." Journal of Institute of Control, Robotics and Systems 21, no. 9 (2015): 863–68. http://dx.doi.org/10.5302/j.icros.2015.15.0103.

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Park, J. H., and S. Jung. "Development and control of a single-wheel robot: Practical Mechatronics approach." Mechatronics 23, no. 6 (2013): 594–606. http://dx.doi.org/10.1016/j.mechatronics.2013.05.010.

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Liu, Jicheng, Jinshuai Yang, Binglu Yan, and Zheng Liu. "The adaptable amphibious wheel-legged robot." Transactions of the Canadian Society for Mechanical Engineering 42, no. 3 (2018): 323–39. http://dx.doi.org/10.1139/tcsme-2017-0143.

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A new category of large-diameter adaptable amphibious wheel-legged robot is proposed in this paper. The proposed mechanism can climb obstacles better than existing designs. The Denavit–Hartenberg (D–H) coordinate system is used for kinematic analysis, and the constructed kinematic model is used to solve for these joint variables for a redundant robot. The control strategy is to plan both the foot trajectory of the amphibious robot, to optimize the operational performance in special environments, as well as the walking gait. Then the closed-loop control system is used. A simulation is used to v

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CHAIDIR, ALI RIZAL, KHAIRUL ANAM, and GAMMA ADITYA RAHARDI. "Lane Tracking pada Robot Beroda Holonomic menggunakan Pengolahan Citra." ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika 8, no. 1 (2020): 69. http://dx.doi.org/10.26760/elkomika.v8i1.69.

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ABSTRAK  Robot merupakan teknologi yang dapat diterapkan bidang pertanian dan industri. Salah satu teknik navigasi robot yang dapat diterapkan di bidang pertanian dan industri adalah lane tracking. Untuk bernavigasi robot membutuhkan sebuah alat untuk mengenali lingkungannya, alat tersebut dapat berupa sensor atau kamera. Salah satu kelebihan menggunakan kamera jika dibandingkan dengan sensor adalah dapat mengurangi penggunaan perangkat keras untuk mengenali lingkungan robot. Fokus utama penelitian ini adalah membuat robot beroda holonomic untuk bernavigasi di antara dua garis yang

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Taj, A. B., and M. Ahmad. "Design and Implementation of Line Follower Robot Based on Single Pole Double Through Relay by Using Microcontroller." Nucleus 59, no. 2 (2022): 61–67. https://doi.org/10.71330/nucleus.59.02.1253.

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The aim of this work is to achieve an efficient control design for the line follower robot based on Single Pole Double Through (SPDT) relays by using PROTEUS professional software and its practical implementation. It followed a white line on the black background, detects turns or nonconformities, and operates the motors very efficiently by using the microcontroller. Infrared (IR) sensors are used to sense the white line (path). Differential directing was utilized to turn ON the robot. In this article, we have the voltage from the comparator by using the IR sensors. Microcontroller AT89C51 read

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Paidi, Zulfikri, Nurzaid Muhd Zain, Mahfudzah Othman, and Siti Hajar Mohd Mokhtar. "Speed Calibration for Mobile Robot As Prototypes to Smart Vehicles." Journal of Computing Research and Innovation 5, no. 4 (2020): 8–17. http://dx.doi.org/10.24191/jcrinn.v5i4.168.

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Many studies have been done to find the best formula in building a vehicle with self - driving ability. In order for the vehicle to be smart and able to drive on its own, several factors need to be improved. One of the factors is the ability to make decisions. This research conducted experiments on small - scale mobile robots - also known as robot cars - as prototypes to smart vehicles to find the appropriate value for the driving speed of the vehicle after calibration. The study was conducted using Arduino board hardware, remote robot cars, remote controls for remote robot ca rs, and rotary e

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Shin, Haeng-Bong, and BO-Nam Cha. "A Study on Robust Control of Mobile Robot with Single wheel Driving Robot for Process Automation." Journal of the Korean Society of Industry Convergence 19, no. 2 (2016): 81–87. http://dx.doi.org/10.21289/ksic.2016.19.2.081.

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