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1
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 steering radius of the robot, the traction force and resistance torque models of the tracked robot were established, and the plane dynamics of the robot’s steering were analyzed and solved. The corresponding relationships between the road parameters, relative steering radius, and lateral relative offset of the robot on three typical roads were obtained. Mathematical models of the robot’s track speed and relative steering radius with and without skid and slip were established. Through simulation analysis of Matlab software, the corresponding relationship between the relative steering radius of the robot and the velocity difference of the two tracks were obtained. Taking angular obstacles as an example, three obstacle-avoidance steering control strategies, once turning in situ center, twice turning in situ center, and large-radius steering were developed. The tracked robot and obstacle multi-body dynamic simulation models were constructed using ADAMS simulation software. The simulation results show that all three methods can complete the steering tasks according to the requirements; however, under the influence of skid and slip, the trajectory of the robot deviates from the ideal trajectory, which has a great impact on large-radius steering, even though the large-radius obstacle-avoidance steering control strategy has the advantages of a smooth trajectory, fast steering speed, and high efficiency. The obstacle-avoidance steering experiments were completed by the robot prototype, which verifies the rationality of robot steering theory, which could provide the corresponding theoretical basis for autonomous obstacle-avoidance navigation control of a tracked robot.
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Ilyas, Muneeb, Muhammad Ehsan Ali, Nasir Rehman, and Abdul Rehman Abbasi. "1 Design, Development & Evaluation of a Prototype Tracked Mobile Robot for Difficult Terrain." Sir Syed Research Journal of Engineering & Technology 1, no. 1 (2013): 7. http://dx.doi.org/10.33317/ssurj.v1i1.61.
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This paper reports the design, development andevaluation of a prototype tracked mobile robot for task executionin both natural and human-made environments with stairclimbing feature. First, different types of locomotion systems usedfor mobile robots are compared and their pros and cons arepresented. Then the mechanism designed for the prototypetracked mobile robot is described with the aid of a CAD model.Finally, the results of field testing of the actual robot are presentedand the behavior of tracked mobile robots in presence of slippageis discussed.
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Ilyas, Muneeb, Muhammad Ehsan Ali, Nasir Rehman, and Abdul Rehman Abbasi. "Design, Development & Evaluation of a Prototype Tracked Mobile Robot for Difficult Terrain." Sir Syed University Research Journal of Engineering & Technology 3, no. 1 (2013): 7. http://dx.doi.org/10.33317/ssurj.v3i1.61.
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This paper reports the design, development andevaluation of a prototype tracked mobile robot for task executionin both natural and human-made environments with stairclimbing feature. First, different types of locomotion systems usedfor mobile robots are compared and their pros and cons arepresented. Then the mechanism designed for the prototypetracked mobile robot is described with the aid of a CAD model.Finally, the results of field testing of the actual robot are presentedand the behavior of tracked mobile robots in presence of slippageis discussed.
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Ilyas, Muneeb, Muhammad Ehsan Ali, Nasir Rehman, and Abdul Rehman Abbasi. "Design, Development & Evaluation of a Prototype Tracked Mobile Robot for Difficult Terrain." Sir Syed University Research Journal of Engineering & Technology 3, no. 1 (2013): 7. http://dx.doi.org/10.33317/ssurj.61.
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This paper reports the design, development andevaluation of a prototype tracked mobile robot for task executionin both natural and human-made environments with stairclimbing feature. First, different types of locomotion systems usedfor mobile robots are compared and their pros and cons arepresented. Then the mechanism designed for the prototypetracked mobile robot is described with the aid of a CAD model.Finally, the results of field testing of the actual robot are presentedand the behavior of tracked mobile robots in presence of slippageis discussed.
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Wang, Chuanwei, Heng Zhang, Hongwei Ma, et al. "Simulation and Validation of a Steering Control Strategy for Tracked Robots." Applied Sciences 13, no. 19 (2023): 11054. http://dx.doi.org/10.3390/app131911054.
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Tracked inspection robots have demonstrated their versatility in a wide range of applications. However, challenges arising from issues such as skidding and slipping have posed obstacles to achieving precise and efficient trajectory control. This paper introduces a method to determine the steering parameters of robot based on the surrounding obstacles and road information. The primary objective is to enhance the steering efficiency of tracked robots. The corresponding relationship between the track speed, driving force and track steering radius of the tracked robot is obtained. Considering the influence of track skid and slip, relationship models about the steering radius and traveling speed of the robot are established. The minimum and maximum steering radii in the obstacle avoidance process are analyzed, and a mathematical model of the relationship between the steering angle of the robot and the distance between the side obstacles is established. The trajectory deviation model of the tracked robot is established, and a principle analysis of the LiDAR ranging is completed. This lays the foundation for a steering measurement and control system for tracked robots. ADAMS(2020) software is used to establish the multi-body dynamics model of the tracked robot, and three different obstacle-avoiding steering control strategies are designed for the robot in a simulated environment with space obstacles. The simulation experiment demonstrates that the robot achieves more efficient obstacle avoidance steering through the use of differential steering, leading to a decrease in both track skid and slip rates. Through the simulation experiment, it can be seen that the robot uses differential steering to complete the obstacle avoidance steering movement more efficiently, and the track skid and slip rates are smaller. The simulation results are used to complete the steering control experiment of the tracked robot on different road surfaces. The results show that by adjusting the track driving parameters, the robot can effectively complete the obstacle-avoiding steering movement by using the differential steering control strategy, which verifies the accuracy of the steering control strategy.
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Kelemen, Michal, and Bobal Lukas. "TRACKED ROBOT FOR CLEANING OF PIPE." TECHNICAL SCIENCES AND TECHNOLOGIES, no. 3(17) (2019): 55–61. http://dx.doi.org/10.25140/2411-5363-2019-3(17)-55-61.
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Urgency of the research. Service robot is as device which is currently used for standard works as cutting the grass or vacuum cleaning and also teleoperation robot which is remote controlled by human for special tasks as exploring, bomb removing, rescue action etc. Tendency is substitute human in dangerous or monotonous works via using of robots. Target setting. Tracked robot is designed for cleaning of pipe, which has inner pipe wall covered by sediments. The typical example is chimney, where carbon particles cover the pipe wall. Carbon particles can start burning process with result of total damaging of chimney and also building. Pipe robot can be used as practical aid for cleaning and inspection of pipes. Actual scientific researches and issues analysis. Other similar task is repairing of damaged inner pipe wall. Robot which repair pipe from inside pipe saves the costs for site excavation works. Uninvestigated parts of general matters defining. The questions of the design of pipe repairing robots are uninvestigated, because the next research will be focused to this. The research objective. In-pipe robot is as device for locomotion inside pipe with aim to make inspection or cleaning of inner surface of pipe wall. Tracked robot is designed because of better properties as overcoming of problematic places inside pipe and also lower normal force between the tracks and inner pipe wall. The statement of basic materials. Tracked segments are pressed to inner pipe wall and normal force is controlled by controller on the base of measurement of normal force. Cleaning brush module is connected to robot for dirties removing. CCD camera for inspection can be also connected to robot. Conclusions. The cleaning robot is important device for service of pipe systems as prevention of pipe damage of other negative phenomena. Contribution of this robot is significant, because it saves money and time.
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Gao, Xin’an, Xiaorong Guan, Yanlong Yang, and Jingmin Zhang. "Design and Ground Performance Evaluation of a Multi-Joint Wheel-Track Composite Mobile Robot for Enhanced Terrain Adaptability." Applied Sciences 13, no. 12 (2023): 7270. http://dx.doi.org/10.3390/app13127270.
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The tracked-wheeled mobile robot has gained significant attention in military, agricultural, construction, and other fields due to its exceptional mobility and off-road capabilities. Therefore, it is an ideal choice for reconnaissance and exploration tasks. In this study, we proposed a multi-jointed tracked-wheeled compound mobile robot that can overcome various terrains and obstacles. Based on the characteristics of multi-jointed robots, we designed two locomotion modes for the robot to climb stairs and established the kinematics/dynamics equations for its land movement. We evaluated the robot’s stability during slope climbing, its static stability during stair climbing, and its ability to cross trenches. Based on our evaluation results, we determined the key conditions for the robot to overcome obstacles, the maximum height it can climb stairs, and the maximum width it can cross trenches. Additionally, we developed a simulation model to verify the robot’s performance in different terrains and the reliability of its stair-climbing gait. The simulation results demonstrate that our multi-jointed tracked-wheeled compound mobile robot exhibits excellent reliability and adaptability in complex terrain, indicating broad application prospects in various fields and space missions.
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Wang, Jieyu, Yan'an Yao, and Xianwen Kong. "A reconfigurable tri-prism mobile robot with eight modes." Robotica 36, no. 10 (2018): 1454–76. http://dx.doi.org/10.1017/s0263574718000498.
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SUMMARYA novel reconfigurable tri-prism mobile robot with eight modes is proposed. The robot is composed of two feet connected by three U-R-U (universal-revolute-universal) limbs. The robot incorporates the kinematic properties of sphere robots, squirming robots, tracked robots, wheeled robots and biped robots. In addition, the somersaulting and turning modes are also explored. After the description of the robot, the DOF (degree-of-freedom) is calculated based on screw theory. The 3D model and simulations indicate that the robot can cross several typical obstacles and can also be folded via two approaches. Finally, the prototype experiments are presented to verify the feasibility of the proposed mobile robot in different motion mode.
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Tajti, Ferenc, Bence Kovács, Géza Szayer, Péter Korondi, and Zoltán Székely. "Variable Robot Geometry Optimization Method to Avoid Tip Over Situations During Slow Motion on Unknown Terrains." Academic and Applied Research in Military and Public Management Science 15, no. 3 (2016): 301–23. http://dx.doi.org/10.32565/aarms.2016.3.10.
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This paper presents a parametrized stability control method for special slow motion field mobile robots, based on use cases from border surveillance. The concept uses the centre of gravity (COG) as the virtual centre of motion (VCM). The simplified robot geometry is an input parameter of the model, so it can work with different types of mobile robots, like holonomic-wheeled, differential-wheeled, steered, tracked, wheeled-tracked, segmented, etc. structures. This method resulted in the implementation of a flexible and universal control algorithm for transformable and hybrid drive mobile robots, where every parameter can be changed and recalculated for different applications or even in discrete time steps during the motion at a 3D path. The velocity reference, the angular velocity reference and the optimization parameter (for example gravity compensation) of the robot can be prescribed. The model was implemented in MATLAB and can be compiled to C for measurements and validation with test robots.
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Naresh, B., and Manjusha K. "Implementation of Bluetooth-Controlled Quadruped Robot with the Live Video Stream." Journal of Optoelectronics and Communication 4, no. 3 (2022): 1–12. https://doi.org/10.5281/zenodo.7472237.
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<em>Nowadays we have different types of moving robots such as wheeled and tracked, which are facing difficulties in moving through rough-terrain regions. For this purpose, quadruped robots were designed. These quadruped robots are the four-legged robots inspired by biological four-legged animal movement. These movements are classified as gaits. This project is to design a four-legged robot that moves according to the instructions that we provide from our mobile. This controlling process is done using Bluetooth technology by connecting the robot with a mobile. In this project, the robot was designed for the application of live video streaming in the area where the robot moves. The streaming can be done on a mobile or a PC. The major area of application of this type of robot is in the military and space.</em>
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Endo, Daisuke, Atsushi Watanabe, and Keiji Nagatani. "Stair Climbing Control for 4-DOF Tracked Vehicle Based on Internal Sensors." Journal of Robotics 2017 (2017): 1–18. http://dx.doi.org/10.1155/2017/3624589.
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In search-and-rescue missions, multi-degrees-of-freedom (DOF) tracked robots that are equipped with subtracks are commonly used. These types of robots have superior locomotion performance on rough terrain. However, in teleoperated missions, the performance of tracked robots depends largely on the operators’ ability to control every subtrack appropriately. Therefore, an autonomous traversal function can significantly help in the teleoperation of such robots. In this paper, we propose a planning and control method for 4-DOF tracked robots climbing up/down known stairs automatically based on internal sensors. Experimental results obtained using mockup stairs verify the effectiveness of the proposed method.
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Zong, Chengguo, Zhijian Ji, Junzhi Yu, and Haisheng Yu. "An angle-changeable tracked robot with human-robot interaction in unstructured environments." Assembly Automation 40, no. 4 (2020): 565–75. http://dx.doi.org/10.1108/aa-11-2018-0231.
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Purpose The purpose of this paper is to study the adaptability of the tracked robot in complex working environment. It proposes an angle-changeable tracked robot with human–robot interaction in unstructured environment. The study aims to present the mechanical structure and human–robot interaction control system of the tracked robot and analyze the static stability of the robot working in three terrains, i.e. rugged terrain, sloped terrain and stairs. Design/methodology/approach The paper presents the mechanical structure and human–robot interaction control system of the tracked robot. To prevent the detachment of the tracks during obstacle navigation, a new type of passively adaptive device based on the relationship between the track’s variable angle and the forces is presented. Then three types of rough terrain are chosen to analyze the static stability of the tracked robot, i.e. rugged terrain, sloped terrain and stairs. Findings This paper provides the design method of the tracked robot. Owing to its appropriate dimensions, good mass distribution and limited velocity, the tracked robot remains stable on the complex terrains. The experimental results verify the effectiveness of the design method. Originality/value The theoretical analysis of this paper provides basic reference for the structural design of tracked robots.
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Pappalettera, Antonio, Giulio Reina, and Giacomo Mantriota. "Design and Analysis of Tracked Stair-Climbing Robot Using Innovative Suspension System." Robotics 13, no. 3 (2024): 45. http://dx.doi.org/10.3390/robotics13030045.
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Obstacle-crossing and stair-climbing abilities are crucial to the performance of mobile robots for urban environment mobility. This paper proposes a tracked stair-climbing robot with two bogie-like suspensions to overcome architectural barriers. After a general introduction to stair-climbing robots, the “XXbot” concept is presented. We developed a special model that helps us figure out how a system will move based on the shape of the ground it is on. Then, stair-climbing simulations were performed with the multibody software MSC-Adams and the results are presented. This shows that the robot can be used in many different ways, such as stair-climbing wheelchair platforms.
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Zhu, Rui, and Hong Chuan Xu. "Control System Design for Tracked Trailing Mobile Robot." Applied Mechanics and Materials 241-244 (December 2012): 1816–20. http://dx.doi.org/10.4028/www.scientific.net/amm.241-244.1816.
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In this paper a tracked tracing robot has been investigated and M30245 is used as system core to build its motion control system. A motion control system specifically fitted the differential drive nature of the tracked mobile robots, has been proposed. In this paper, tracing tracked robot based on the structural design, the design of driver module, detection module, control procedures are carried out. The PWM DC motor control technology is discussed; the track sensors, ultrasonic sensors, color sensors, light sensors, temperature sensors and other detection devices are used. Combination of control system the software is designed so that the robot can walk along the designated trajectory, bypass obstacles, test the temperature of the surrounding environment and brightness, then identification and response.
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Luneckas, Mindaugas, Tomas Luneckas, Jonas Kriaučiūnas, et al. "Hexapod Robot Gait Switching for Energy Consumption and Cost of Transport Management Using Heuristic Algorithms." Applied Sciences 11, no. 3 (2021): 1339. http://dx.doi.org/10.3390/app11031339.
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Due to the prospect of using walking robots in an impassable environment for tracked or wheeled vehicles, walking locomotion is one of the most remarkable accomplishments in robotic history. Walking robots, however, are still being deeply researched and created. Locomotion over irregular terrain and energy consumption are among the major problems. Walking robots require many actuators to cross different terrains, leading to substantial consumption of energy. A robot must be carefully designed to solve this problem, and movement parameters must be correctly chosen. We present a minimization of the hexapod robot’s energy consumption in this paper. Secondly, we investigate the reliance on power consumption in robot movement speed and gaits along with the Cost of Transport (CoT). To perform optimization of the hexapod robot energy consumption, we propose two algorithms. The heuristic algorithm performs gait switching based on the current speed of the robot to ensure minimum energy consumption. The Red Fox Optimization (RFO) algorithm performs a nature-inspired search of robot gait variable space to minimize CoT as a target function. The algorithms are tested to assess the efficiency of the hexapod robot walking through real-life experiments. We show that it is possible to save approximately 7.7–21% by choosing proper gaits at certain speeds. Finally, we demonstrate that our hexapod robot is one of the most energy-efficient hexapods by comparing the CoT values of various walking robots.
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Wu, Tong, Dongyue Liu, and Xiyun Li. "Designing Hybrid Mobility for Agricultural Robots: Performance Analysis of Wheeled and Tracked Systems in Variable Terrain." Machines 13, no. 7 (2025): 572. https://doi.org/10.3390/machines13070572.
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This study investigates the operational performance of fruit-picking robots under varying terrain slopes and soil moisture conditions, with a focus on comparing wheeled and tracked locomotion systems. A modular robot platform was designed and tested in both controlled environments and actual mountainous orchards in Shandong, China. The experiments assessed key performance metrics—average speed, slip rate, and path deviation—under combinations of four slope levels (0°, 8°, 18°, 28°) and three soil moisture levels (dry 10%, moderate 20%, wet 35%). Results reveal that wheeled robots perform optimally on dry and flat terrain but experience significant slippage and path deviation under steep and wet conditions. In contrast, tracked robots maintain better stability and terrain adaptability, demonstrating lower slip rates and more consistent trajectories across a wide range of conditions. A synergistic deterioration effect was observed when high slope and high soil moisture co-occur, significantly degrading the performance of wheeled systems, while tracked systems mitigated these effects. Complementary semi-structured interviews with 20 orchard stakeholders—including farmers, growers, and hired pickers—highlighted key user expectations: robust traction, terrain adaptability, reduced physical labor, and operational safety. The findings suggest that future agricultural robots should adopt adaptive hybrid mobility systems and integrate environmental perception capabilities to enhance performance in complex agricultural scenarios. These insights contribute practical and theoretical guidance for the design and deployment of intelligent fruit-picking robots in diverse field environments.
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Miao, Zhihuai, Jixue Mo, Gang Li, Yinghao Ning, and Bing Li. "Wheeled hopping robot with combustion-powered actuator." International Journal of Advanced Robotic Systems 15, no. 1 (2018): 172988141774560. http://dx.doi.org/10.1177/1729881417745608.
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While exploring complex environments, conventional mobile robots can overcome obstacles of limited height and jumping robots can overcome obstacles several times their own size. When jumping motion and wheeled or tracked motion are combined to form a composite motion, robots have even better ability to traverse rugged terrain. Therefore, we designed a wheeled hopping robot with a novel combustion-powered actuator and carried out structural design and experimental studies. The combustion-powered actuator has a unique inlet scheme and good sealing performance and is easy to install. The jump height equation was obtained by analyzing the combustion process. With the help of orthogonal array design methods, the factors that affect the wheeled hopping robot’s jumping height were analyzed to improve its key design parameters and optimize its jumping performance. Finally, experiments were performed with the actuator and the wheeled hopping robot. When the stoichiometric ratio of the mixed fuels nears complete combustion, the combustion-powered actuator can jump 7.5 m high with a payload of 3.75 kg and its own weight of 1.25 kg, and the wheeled hopping robot can jump 4.5 m high with a payload of 6 kg. Evaluating the robot’s performance in terms of energy efficiency reveals that it has a significant jumping advantage.
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Pan, Hainan, Xieyuanli Chen, Junkai Ren, et al. "Deep Reinforcement Learning for Flipper Control of Tracked Robots in Urban Rescuing Environments." Remote Sensing 15, no. 18 (2023): 4616. http://dx.doi.org/10.3390/rs15184616.
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Tracked robots equipped with flippers and LiDAR sensors have been widely used in urban search and rescue. Achieving autonomous flipper control is important in enhancing the intelligent operation of tracked robots within complex urban rescuing environments. While existing methods mainly rely on the heavy work of manual modeling, this paper proposes a novel Deep Reinforcement Learning (DRL) approach named ICM-D3QN for autonomous flipper control in complex urban rescuing terrains. Specifically, ICM-D3QN comprises three modules: a feature extraction and fusion module for extracting and integrating robot and environment state features, a curiosity module for enhancing the efficiency of flipper action exploration, and a deep Q-Learning control module for learning robot-control policy. In addition, a specific reward function is designed, considering both safety and passing smoothness. Furthermore, simulation environments are constructed using the Pymunk and Gazebo physics engine for training and testing. The learned policy is then directly transferred to our self-designed tracked robot in a real-world environment for quantitative analysis. The consistently high performance of the proposed approach validates its superiority over hand-crafted control models and state-of-the-art DRL strategies for crossing complex terrains.
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Martínez, J. L., A. Mandow, J. Morales, S. Pedraza, and A. García-Cerezo. "Approximating Kinematics for Tracked Mobile Robots." International Journal of Robotics Research 24, no. 10 (2005): 867–78. http://dx.doi.org/10.1177/0278364905058239.
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Korendiy, Vitaliy, Oleh Kotsiumbas, Volodymyr Borovets, Volodymyr Gurey, and Rostyslav Predko. "Mathematical modeling and computer simulation of the wheeled vibration-driven in-pipe robot motion." Vibroengineering PROCEDIA 44 (August 25, 2022): 1–7. http://dx.doi.org/10.21595/vp.2022.22832.
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The in-pipe robots are currently of significant interest, considering numerous recent publications on this subject. Such machines can use various locomotion principles: wheeled, tracked (caterpillar), walking (legged), screw-type, worm-type, snake-type, etc. In most cases, such robots are equipped with an active drive system transmitting the torque from a motor shaft to the corresponding locomotion mechanism (wheels, tracks, etc.). The present paper is devoted to the wheeled in-pipe robot that doesn’t need a complex transmission. In such a case, the idea of implementing the vibratory locomotion system driven by an internal unbalanced mass is proposed. The corresponding kinematic diagram of the wheeled vibration-driven in-pipe robot is developed, and the differential equations describing the robot motion are deduced. In order to carry out the virtual experimental investigations, the robot’s simulation model is designed in the SolidWorks software. The major scientific novelty of the present research consists in developing the theoretical foundation for designing and practical implementation of the in-pipe robots driven by the inertial vibration exciters and equipped with the unidirectionally rotating wheels and overrunning clutches. The results of numerical modeling and computer simulation of the robot motion substantiate the possibilities and expediency of implementing the proposed vibration-driven locomotion principles while creating novel designs of the in-pipe robots.
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Rahman, M. A., and Mohin Ali. "DESIGN AND NAVIGATION SYSTEM FOR A CONTINUOUS TRACK EXPLORER ROBOT." International Journal of Research in Engineering 3, no. 8 (2023): 1–6. https://doi.org/10.55640/ijre-03-08-01.
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Explorer robots are designed to operate in complex and often unpredictable environments, necessitating robust mobility and sophisticated navigation capabilities. While wheeled configurations, such as differential drive robots, are common, continuous track type traction offers distinct advantages in traversing rough, uneven, or soft terrain. This article reviews the system design considerations and navigation strategies specifically applicable to explorer robots equipped with continuous tracks. The Introduction highlights the role of explorer robots and the rationale for utilizing tracked mobility in challenging environments. The Methods section details the typical hardware components, kinematic and dynamic modeling approaches (addressing the complexities introduced by track-terrain interaction and slip), and common navigation techniques including localization, mapping, and path planning. Various control strategies, from classical PID to more advanced nonlinear and intelligent control methods, are discussed in the context of trajectory tracking and motion control for tracked robots. The Results section synthesizes findings from the literature regarding the performance of tracked robots in terms of mobility, traction, odometry accuracy, and the effectiveness of different control and navigation algorithms in handling challenges like slip and uneven terrain. The Discussion interprets these findings, compares the advantages and disadvantages of tracked traction for exploration, evaluates the state of the art in navigation system design, identifies key challenges, and suggests future research directions to enhance the autonomy and reliability of continuous track explorer robots in demanding environments.
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Cui, Jiu Qiang, Zhen Zhang, and Rui Feng Zhao. "Mechanical Design and Analysis of a Tracked Mobile System for Patrol Robot." Applied Mechanics and Materials 496-500 (January 2014): 764–68. http://dx.doi.org/10.4028/www.scientific.net/amm.496-500.764.
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Patrol robots can be applied in many fields, such as accident prevention and Troubleshooting. In this paper, we introduce mechanical design and analysis of a tracked mobile system for patrol robot which solves the occupation problem of motor and gear box in traditional tracked mobile system. The structure of the tracked mobile system includes sprocket constructed by the wheel motor, closed track chain which is meshing with the sprocket and the idler and also hinged by track shoes and high intensity pins. Finally, finite element analysis is carried out on several key components to verify the rationality of the design.
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Zong, Chengguo, Zhijian Ji, and Haisheng Yu. "Dynamic stability analysis of a tracked mobile robot based on human–robot interaction." Assembly Automation 40, no. 1 (2019): 143–54. http://dx.doi.org/10.1108/aa-10-2018-0156.
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Purpose This paper aims to provide a theoretical principle for the stability control of robot climbing stairs, autonomously based on human–robot interaction. Through this research, tracked mobile robots with human-robot interaction will be extensively used in rescue in disaster, exploration on planetary, fighting in battle, and searching for survivors in collapsed buildings. Design/methodology/approach This paper introduces the tracked mobile robot, based on human–robot interaction, and its six moving postures. The dynamic process of climbing stairs is analyzed, and the dynamic model of the robot is proposed. The dynamic stability criterion is derived when the tracked mobile robot contacts the stairs steps in one, two and more points. A further conduction of simulation on the relationship of the traction force and bearing force vs the velocity and acceleration in the three cases was carried out. Findings This paper explains that the tracked mobile robot, based on human–robot interaction, can stably climb stairs so long as the velocity and acceleration satisfy the dynamic stability criterion as noted above. In addition, the experiment tests the correctness of dynamic stability analysis when the tracked mobile robot contacts the stair steps in one, two or more points. Originality/value This paper provides the mechanical structure and working principle of the tracked mobile robot based on human–robot interaction and proposes an identification method of dynamic stability criterion when the robot contacts the stairs steps in one, two and more points.
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Weerakoon, Tharindu, and Kazuo Ishii. "1A2-F06 2D obstacle avoidance algorithm for mobile robots(Wheeled Robot/Tracked Vehicle(2))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012 (2012): _1A2—F06_1—_1A2—F06_4. http://dx.doi.org/10.1299/jsmermd.2012._1a2-f06_1.
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Gulevskiy, V. V. "ON QUASI-STATIC MODES OF MOTION OF UNDERWATER MOBILE ROBOTS WITH ANCHOR-ROPE-TRACK DRIVES." IZVESTIA VOLGOGRAD STATE TECHNICAL UNIVERSITY, no. 9(256) (September 15, 2021): 26–31. http://dx.doi.org/10.35211/1990-5297-2021-9-256-26-31.
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A method for calculating mobile robots with anchor-cable-tracked drives is considered. The influence of the mass-geometric characteristics of a mobile robot on the stability of its movement in quasi-static modes of movement along the bottom of a reservoir is considered.
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Jati, Agung Nugroho, Randy Erfa Saputra, M. Ghozy Nurcahyadi, and Nasy'an Taufiq Al Ghifary. "A Multi-robot System Coordination Design and Analysis on Wall Follower Robot Group." International Journal of Electrical and Computer Engineering (IJECE) 8, no. 6 (2018): 5098. http://dx.doi.org/10.11591/ijece.v8i6.pp5098-5106.
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In this research, multi-robot formation can be established according to the environment or workspace. Group of robots will move sequently if there is no space for robots to stand side by side. Leader robot will be on the front of all robots and follow the right wall. On the other hand, robots will move side by side if there is a large space between them. Leader robot will be tracked the wall on its right side and follow on it while every follower moves side by side. The leader robot have to broadcast the information to all robots in the group in radius 9 meters. Nevertheless, every robot should be received information from leader robot to define their movements in the area. The error provided by fuzzy output process which is caused by read data from ultrasound sensor will drive to more time process. More sampling can reduce the error but it will drive more execution time. Furthermore, coordination time will need longer time and delay. Formation will not be establisehed if packet error happened in the communication process because robot will execute wrong command.
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Bakhsh, Qadir, Khalid Hasnan, and Aftab Ahmed. "Comparative Study between Wheeled and Tracked Mobility System for Mobile Robot." Applied Mechanics and Materials 393 (September 2013): 538–43. http://dx.doi.org/10.4028/www.scientific.net/amm.393.538.
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Robots are widely used nowadays in industries, commercial and domestic purpose for the completion of task in shortest time interval and accurate operation. In the design of a mobile robot, the main mechanical area on focus is the locomotion mechanism. The locomotion mechanism consideration would include the mobile robot flexibility, versatility and efficiency to complete the multi tasks in different environments, indoor and outdoor. This comparative study was focused on the mobile robot mobility systems between wheeled and tracked. This paper highlights the effects on mechanical design, velocity, energy and flexibility of each mobility system. A hybrid system was suggested depending on mechanical design, energy consumption and flexibility.
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Pauliukavets, S. A., A. A. Velchenko, A. A. Radkevich, and D. Yu Tschaplygin. "Modeling of Control System for Tracked Mobile Robot Taking Into Account Kinematic and Dynamic Parameters." Science & Technique 23, no. 1 (2024): 5–14. http://dx.doi.org/10.21122/2227-1031-2024-23-1-5-14.
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The paper examines the problem of constructing a motion control system for autonomous mobile tracked robots in an informal external environment. Based on the proposed mathematical model of the control system for a tracked mobile robot, which takes into account kinematic and dynamic parameters, simulation modeling of a tracked mobile robot was carried out in the dynamic modeling environments of technical systems MATLAB Simulink and SimInTech, which made it possible to control the coordinates of a tracked mobile robot along a predetermined trajectory with a certain accuracy. To increase the stability of the mobile robot motion control system, a PID controller of the armature current and electromagnetic torque was introduced into it. During the simulation study, graphical dependences on time were obtained: supply voltage; rotation angle of the robot body; track speeds; motor armature current; electromagnetic torque of engines; armature current of motors with PID controller; the path traveled by the caterpillars; electromagnetic torque of motors with a PID controller, and also the center of mass of the robot was set when setting a trajectory with a radius of 10 m for 6.2 s. Models were built in the MATLAB Simulink software package: general simulation, kinematic simulation and dynamic simulation of a tracked mobile robot, simulation subsystem of the electric drive control unit. In the SimInTech software environment, a simulation model of the dynamic part of the right electric drive of a tracked mobile robot was obtained. A comparative analysis of the graphical dependencies of the angular velocity of the roller and armature current of the motor of a tracked mobile robot, obtained in the MATLAB Simulink and SimInTech packages, was carried out, which revealed a number of advantages and disadvantages when testing the operation of the control system of a tracked mobile robot in an unformalized external environment.
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Guarnieri, Michele, Paulo Debenest, Takao Inoh, and Shigeo Hirose. "HELIOS VII: a New Tracked Arm-Equipped Vehicle." Journal of Robotics and Mechatronics 15, no. 5 (2003): 508–15. http://dx.doi.org/10.20965/jrm.2003.p0508.
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Crawled vehicles have a considerable importance for rescue operations and tasks performed in damaged areas. On tracked vehicles a great deal of research has been made. However, due to the variety of the sceneries in which robots are required to work, it is important to design vehicles with high terrain adaptability and capable to fulfill different tasks. After an overview of the merits on the state of the art of research on crawled vehicles, the important features of a tracked vehicle are introduced and explained. The new robot Helios VII is presented. The motions that it can realize are verified through simulations and some mechanical solutions applied in the mechanical design are also explained.
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Cheng, Wei, Pan Lai, Muqing Yu, and Bin Zhang. "Research on obstacle-surmounting mechanism of transformable robot." Applied and Computational Engineering 10, no. 1 (2023): 101–7. http://dx.doi.org/10.54254/2755-2721/10/20230153.
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With the innovation and advancement of technology, the research in the field of transformable robots have shown explosive growth and are moving towards intelligence and diversification. Transformable robots can transform their mobile mechanisms according to different terrains for obstacle surmounting, with high flexibility, strong adaptability, and scalability. Thus, transformable robots are widely used in fields such as reconnaissance, rescue, and military. In this article, the characteristics of different obstacle surmounting mechanisms of transformable robots are analysed. Based on three traditional obstacle surmounting mechanisms: wheeled, tracked, and legged, this article introduces the concepts and advantages of combined obstacle surmounting mechanisms and emerging soft and biomimetic robot obstacle surmounting mechanisms. After elaborating on the current research status and partial applications of composite transformable obstacle surmounting robots, the key technologies and difficulties in the research of obstacle surmounting mechanisms for transformable robots are summarized. In addition, this article provides prospects for the application of transformable obstacle surmounting robots in medical and agricultural fields.
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Yao, Shuyan, Long Xue, Jiqiang Huang, Yong Zou, and Ruiying Zhang. "Research on the Configuration of Wheeled Mobile Welding Robots Under Multiple Working Conditions." Machines 13, no. 4 (2025): 315. https://doi.org/10.3390/machines13040315.
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Mobile welding robots have attracted considerable attention due to their flexible movement and robust adaptability, offering substantial market potential. However, the complexity of their operational conditions poses specific demands on robot configurations, with no established design methodology available at the time. To address this challenge, we constructed Lagrange’s equations for wheeled mobile welding robots. Through simplification and deduction analysis, we concluded that larger wheeled mobile welding robots are suited for paths with larger curvature radii, whereas smaller ones are more appropriate for paths with smaller curvature radii. Based on the above analysis and considering the load-bearing capacity of the robot, we proposed a configuration design method for wheeled mobile welding robots, evolving from large to small and micro wheels, including track constraints and wheel number adjustments. Subsequently, prototype robots, including magnetic wheel, tracked, and flexible contour tracing mobile welding robots, have been developed to accommodate various operational conditions. Welding experiments demonstrate that these three configurations, distinguished by their travel path curvature radii, can effectively meet the mobile welding requirements of their respective environments. The effectiveness of the configuration design of wheeled mobile welding robots under different working conditions has been verified.
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Xue, Tong, Rong Liu, and Shi Min Zhai. "Structure Design and Analysis of Moving Character for Detect Robot for Underground Coal Mine." Applied Mechanics and Materials 526 (February 2014): 205–10. http://dx.doi.org/10.4028/www.scientific.net/amm.526.205.
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Aiming at the environment of the underground coal mine combined with the advantage of the articulated-tracked mobile robot at present, a flameproof mobile robot which can detect and rescue for underground coal mine is designed. By analyzed of obstacle crossing mechanism for the robot, necessary conditions for robot obstacle crossing successfully were proposed, and the gait of robot obstacle crossing was programmed. The conclusion can be provided for the same type robots structural design and optimization.
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Xia, Haichuang, Xiaoping Zhang, and Hong Zhang. "A New Foot Trajectory Planning Method for Legged Robots and Its Application in Hexapod Robots." Applied Sciences 11, no. 19 (2021): 9217. http://dx.doi.org/10.3390/app11199217.
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Compared with wheeled and tracked robots, legged robots have better movement ability and are more suitable for the exploration of unknown environments. In order to further improve the adaptability of legged robots to complex terrains such as slopes, obstacle environments, and so on, this paper makes a new design of the legged robot’s foot sensing structure that can successfully provide accurate feedback of the landing information. Based on this information, a new foot trajectory planning method named three-element trajectory determination method is proposed. For each leg in one movement period, the three elements are the start point in the support phase, the end point in the support phase, and the joint angle changes in the transfer phase where the first two elements are used to control the height, distance, and direction of the movement, and the third element is used make decisions during the lifting process of the leg. For the support phase, the trajectory is described in Cartesian space, and a spline of linear function with parabolic blends is used. For the transfer phase, the trajectory is described in joint-space, and the joint angle function is designed as the superposition of the joint angle reverse-chronological function and the interpolation function which is obtained based on joint angle changes. As an important legged robot, a hexapod robot that we designed by ourselves with triangle gait is chosen to test the proposed foot trajectory planning method. Experiments show that, while the foot’s landing information can be read and based on the three-element trajectory planning method, the hexapod robot can achieve stable movement even in very complex scenes. Although the experiments are performed on a hexapod robot, our method is applicable to all forms of legged robots.
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Zhang, Haoyan, Jiaqi Wu, Yang An, Pengshu Xie, and Da Cui. "Research on Trajectory-Tracking Control System of Tracked Wall-Climbing Robots." Sensors 24, no. 1 (2023): 144. http://dx.doi.org/10.3390/s24010144.
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Different from the vehicles and robots that move on the ground, complex and nonlinear track–wall interactions bring considerable difficulties to the accurate control of tracked wall-climbing robots due to the effect of gravity and adsorption. In this article, the authors propose a trajectory-tracking control system for tracked wall-climbing robots based on the fuzzy logic computed-torque control (FLCT) method. A key element in the proposed control strategy is to consider the adsorption force and gravity compensation based on the dynamic model. Validated via numerical simulations and experiments, the results show that the proposed controller can track the reference trajectory quickly, accurately and stably.
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Wameed, Marthed, Ahmed M. ALKAMACHI, and Ergun Erçelebi. "Tracked Robot Control with Hand Gesture Based on MediaPipe." Al-Khwarizmi Engineering Journal 19, no. 3 (2023): 56–71. http://dx.doi.org/10.22153/kej.2023.04.004.
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Hand gestures are currently considered one of the most accurate ways to communicate in many applications, such as sign language, controlling robots, the virtual world, smart homes, and the field of video games. Several techniques are used to detect and classify hand gestures, for instance using gloves that contain several sensors or depending on computer vision. In this work, computer vision is utilized instead of using gloves to control the robot's movement. That is because gloves need complicated electrical connections that limit user mobility, sensors may be costly to replace, and gloves can spread skin illnesses between users. Based on computer vision, the MediaPipe (MP) method is used. This method is a modern method that is discovered by Google. This method is described by detecting and classifying hand gestures by identifying 21 three-dimensional points on the hand, and by comparing the dimensions of those points. This is how the hand gestures are classified. After detecting and classifying the hand gestures, the system controls the tracked robot through hand gestures in real time, as each hand gesture has a specific movement that the tracked robot performs. In this work, some important paragraphs concluded that the MP method is more accurate and faster in response than the Deep Learning (DL) method, specifically the Convolution Neural Network (CNN). The experimental results shows the accuracy of this method in real time through the effect of environmental elements decreases in some cases when environmental factors change. Environmental elements are such light intensity, distance, and tilt angle (between the hand gesture and camera).The reason for this is that in some cases, the fingers are closed together, and some fingers are not fully closed or opened and the accuracy of the camera used is not good with the changing environmental factors. This leads to the inability of the algorithm used to classify hand gestures correctly (the classification accuracy decrease), and thus response time of the tracked robot's movement increases. That does not present possibility for the system to determine whether the finger is closed or opened.
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Shufeng, TANG* Yue YU Zirui GUO Wenzhi ZHANG Yigang DU. "DESIGN AND EXPERIMENTAL STUDY OF ARM-TYPE CABLE TUNNEL INSPECTION TRACKED ROBOT." INTERNATIONAL JOURNAL OF ENGINEERING SCIENCES & RESEARCH TECHNOLOGY 8, no. 8 (2019): 173–84. https://doi.org/10.5281/zenodo.3377482.
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For solving the safety hazards and inspection safety problems in the long-term operation of cable tunnel transmission, on the investigation of the working environment and requirements, an arm-type cable tunnel inspection robot was designed. Making the kinematics analysis for this robot, a robot-to-barrier method is proposed and the obstacle path is planned. And then the kinematics and dynamics analysis of the climbing process were carried out, and calculate the theoretical value of the biggest obstacle that the robot can cross. By establishing a robot simulation model to simulate the climbing steps and climbing process of the robot. Finally, a variety of environmental experiments were conducted for the inspection robots, and demonstration applications were carried out in actual cable tunnels. The test and demonstration application results show that the robot has smooth and flexible movement, strong environmental adaptability, the ability for reliable communication and convenient operation so that it can meet the requirements of inspection operations.
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Sincak, Peter, Erik Prada, Ľubica Miková, et al. "Sensing of Continuum Robots: A Review." Sensors 24, no. 4 (2024): 1311. http://dx.doi.org/10.3390/s24041311.
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The field of continuum robotics is rapidly developing. The development of new kinematic structures, locomotion principles and control strategies is driving the development of new types of sensors and sensing methodologies. The sensing in continuum robots can be divided into shape perception and environment perception. The environment perception is focusing on sensing the interactions between the robot and environment. These sensors are often embedded on an outer layer of the robots, so the interactions can be detected. The shape perception is sensing the robot’s shape using various principles. There are three main groups of sensors that use the properties of electricity, magnetism and optics to measure the shape of the continuum robots. The sensors based on measuring the properties of electricity are often based on measuring the electrical resistance or capacitance of the flexible sensor. Sensors based on magnetism use properties of permanent magnets or coils that are attached to the robot. Their magnetic field, flux or other properties are then tracked, and shape reconstruction can be performed. The last group of sensors is mostly based on leveraging the properties of traveling light through optical fibers. There are multiple objectives of this work. Objective number one is to clearly categorize the sensors and make a clear distinction between them. Objective number two is to determine the trend and progress of the sensors used in continuum robotics. And finally, the third objective is to define the challenges that the researchers are currently facing. The challenges of sensing the shape or the interaction with the environment of continuum robots are currently in the miniaturization of existing sensors and the development of novel sensing methods.
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Quan, Qiquan, and Shugen Ma. "Development of a Modular Crawler for Tracked Robots." Advanced Robotics 25, no. 13-14 (2011): 1839–49. http://dx.doi.org/10.1163/016918611x584712.
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Shang, Yujia, and Tielin Lu. "Switching control method for collaborative robots based on hybrid Petri nets." Journal of Physics: Conference Series 2785, no. 1 (2024): 012086. http://dx.doi.org/10.1088/1742-6596/2785/1/012086.
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Abstract Aiming at the different working conditions of the mixed production process of collaborative robots, three kinds of controllers with the structure of sliding mode controller, backstepping controller and feedback linearisation are designed respectively, and a control structure switching method based on Petri net is proposed. The method is able to achieve better control performance by switching into different control methods to realise the relevant work tasks (tracked motion trajectories) according to the different work tasks (tracked motion trajectories) to be accomplished by the collaborative robots.
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Mrva, Jakub, Martin Stejskal, and Jan Faigl. "ON TRAVERSABILITY COST EVALUATION FROM PROPRIOCEPTIVE SENSING FOR A CRAWLING ROBOT." Acta Polytechnica CTU Proceedings 2, no. 2 (2015): 34–39. http://dx.doi.org/10.14311/app.2015.1.0034.
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Traversability characteristics of the robot working environment are crucial in planning an efficient path for a robot operating in rough unstructured areas. In the literature, approaches to wheeled or tracked robots can be found, but a relatively little attention is given to walking multi-legged robots. Moreover, the existing approaches for terrain traversability assessment seem to be focused on gathering key features from a terrain model acquired from range data or camera image and only occasionally supplemented with proprioceptive sensing that expresses the interaction of the robot with the terrain. This paper addresses the problem of traversability cost evaluation based on proprioceptive sensing for a hexapod walking robot while optimizing different criteria. We present several methods of evaluating the robot-terrain interaction that can be used as a cost function for an assessment of the robot motion that can be utilized in high-level path-planning algorithms.
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Wang, Hui, En Lu, Xin Zhao, and Jialin Xue. "Vibration and Image Texture Data Fusion-Based Terrain Classification Using WKNN for Tracked Robots." World Electric Vehicle Journal 14, no. 8 (2023): 214. http://dx.doi.org/10.3390/wevj14080214.
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For terrain recognition needs during vehicle driving, this paper carries out terrain classification research based on vibration and image information. Twenty time-domain features and eight frequency-domain features of vibration signals that are highly correlated with terrain are selected, and principal component analysis (PCA) is used to reduce the dimensionality of the time-domain and frequency-domain features and retain the main information. Meanwhile, the texture features of the terrain images are extracted using the gray-level co-occurrence matrix (GLCM) technique, and the feature information of the vibration and images are fused in the feature layer. Then, the improved weighted K-nearest neighbor (WKNN) algorithm is used to achieve the terrain classification during the travel process of tracked robots. Finally, the experimental results verify that the proposed method improves the terrain classification accuracy of the tracked robot and provides a basis for improving the stable autonomous driving of tracked vehicles.
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Song, Zhen, and Yunli Luo. "Research Status and Development Trend of Oil and Gas Pipeline Robot." Academic Journal of Science and Technology 3, no. 3 (2022): 134–40. http://dx.doi.org/10.54097/ajst.v3i3.2914.
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The oil and gas pipeline will have defects such as wear, cracks, corrosion, aging and mechanical damage in the working process, which need to be detected and repaired in time. At present, there are various types of robots in the field of pipeline inspection, including wheeled robots, tracked robots, PIG robots, screw driven robots, walking robots, and inchworm robots. In this paper, the specifications, design and performance of different types of in pipe inspection robots are reviewed. Finally, a summary and prospect are made to provide a theoretical basis for the design and research of robots in this field.
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De León, Jorge, Raúl Cebolla, and Antonio Barrientos. "A Sensor Fusion Method for Pose Estimation of C-Legged Robots." Sensors 20, no. 23 (2020): 6741. http://dx.doi.org/10.3390/s20236741.
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In this work the authors present a novel algorithm for estimating the odometry of “C” legged robots with compliant legs and an analysis to estimate the pose of the robot. Robots with “C” legs are an alternative to wheeled and tracked robots for overcoming obstacles that can be found in different scenarios like stairs, debris, etc. Therefore, this kind of robot has become very popular for its locomotion capabilities, but at this point these robots do not have developed algorithms to implement autonomous navigation. With that objective in mind, the authors present a novel algorithm using the encoders of the legs to improve the estimation of the robot localization together with other sensors. Odometry is necessary for using some algorithms like the Extended Kalman Filter, which is used for some autonomous navigation algorithms. Due to the flexible properties of the “C” legs and the localization of the rotational axis, obtaining the displacement at every step is not as trivial as in a wheeled robot; to solve those complexities, the algorithm presented in this work makes a linear approximation of the leg compressed instead of calculating in each iteration the mechanics of the leg using finite element analysis, so the calculus level is reduced. Furthermore, the algorithm was tested in simulations and with a real robot. The results obtained in the tests are promising and together with the algorithm and fusion sensor can be used to endow the robots with autonomous navigation.
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Zhang, Jialin, Jiamin Guo, Hui Chai, et al. "A Day/Night Leader-Following Method Based on Adaptive Federated Filter for Quadruped Robots." Biomimetics 8, no. 1 (2023): 20. http://dx.doi.org/10.3390/biomimetics8010020.
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The quadruped robots have superior adaptability to complex terrains, compared with tracked and wheeled robots. Therefore, leader-following can help quadruped robots accomplish long-distance transportation tasks. However, long-term following has to face the change of day and night as well as the presence of interference. To solve this problem, we present a day/night leader-following method for quadruped robots toward robustness and fault-tolerant person following in complex environments. In this approach, we construct an Adaptive Federated Filter algorithm framework, which fuses the visual leader-following method and the LiDAR detection algorithm based on reflective intensity. Moreover, the framework uses the Kalman filter and adaptively adjusts the information sharing factor according to the light condition. In particular, the framework uses fault detection and multisensors information to stably achieve day/night leader-following. The approach is experimentally verified on the quadruped robot SDU-150 (Shandong University, Shandong, China). Extensive experiments reveal that robots can identify leaders stably and effectively indoors and outdoors with illumination variations and unknown interference day and night.
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Bruzzone, Luca, Shahab Edin Nodehi, and Pietro Fanghella. "Tracked Locomotion Systems for Ground Mobile Robots: A Review." Machines 10, no. 8 (2022): 648. http://dx.doi.org/10.3390/machines10080648.
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The paper discusses the state-of-the-art of locomotion systems for ground mobile robots comprising tracks. Tracked locomotion, due to the large contact surface with the ground, is particularly suitable for tackling soft, yielding, and irregular terrains, but is characterized by lower speed and energy efficiency than wheeled locomotion, and lower obstacle-climbing capability than legged locomotion. Therefore, in recent years academic and industrial researchers have designed a wide variety of hybrid solutions, combining tracks with legs and wheels. The paper proposes three possible parallel taxonomies, based on body architecture, track profile, and track type, to help designers select the most suitable architecture on the basis of the operative necessities. Moreover, modeling, simulation, and design methodologies for tracked ground mobile robots are recalled.
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Korendiy, Vitaliy, Oleksandr Kachur, Mykola Boikiv, Yurii Novitskyi, and Oleksandr Yaniv. "Analysis of kinematic characteristics of a mobile caterpillar robot with a SCARA-type manipulator." Transport technologies 2023, no. 2 (2023): 56–67. http://dx.doi.org/10.23939/tt2023.02.056.
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Automation and robotization of various production and technological processes in many industries is one of the leading trends in the development of modern society. Industrial robots have recently become quite widespread, and it is almost impossible to imagine any modern production in the fields of mechanical engineering (machine building), instrumentation, pharmaceuticals, food, chemical industries, etc., without robotic complexes. Over the past few decades, another area of robotics has emerged: autonomous mobile robots. It combines research in mechanics, electronics, and computer technologies, including artificial intelligence. Among the most common applications of autonomous mobile robots are the performance of various technological operations in places that are dangerous to human life (radiation, biological or chemical contamination) or uninhabitable (space, sea depths, volcanic craters, etc.). Mobile robots have also proven themselves in rescue operations during cataclysms and natural disasters, anti-terrorist operations, military operations, mine clearance, etc. Given the urgency of the issue of mobile robotics development, this article proposes a new design of an autonomous robotic complex built on the basis of a tracked chassis and equipped with a SCARA-type manipulator. The main task of the developed robot is to perform various technological operations in places where human presence is dangerous or impossible, in particular, when performing demining tasks. In the course of the research, the kinematics of the manipulator was analyzed in detail to determine its working area, and the kinematic parameters of the tracked chassis were experimentally tested while it was moving over rough terrain. The obtained results can be used to further improve the design and control system of the robot and manipulator and in the process of determining the specific technological tasks that will be assigned to this robotic platform.
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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 method was verified through the simulation on Xilinx. The results show that the phase difference of the CPG network remained stable; the designed hexapod robot moved at about 5.15cm/s stably in a tripodal gait, and outperformed wheeled and tracked robots in terrain adaptation. The research findings lay a solid basis for the design of all-terrain multi-leg robots.
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Menendez, Elisabeth, Santiago Martínez, Fernando Díaz-de-María, and Carlos Balaguer. "Integrating Egocentric and Robotic Vision for Object Identification Using Siamese Networks and Superquadric Estimations in Partial Occlusion Scenarios." Biomimetics 9, no. 2 (2024): 100. http://dx.doi.org/10.3390/biomimetics9020100.
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This paper introduces a novel method that enables robots to identify objects based on user gaze, tracked via eye-tracking glasses. This is achieved without prior knowledge of the objects’ categories or their locations and without external markers. The method integrates a two-part system: a category-agnostic object shape and pose estimator using superquadrics and Siamese networks. The superquadrics-based component estimates the shapes and poses of all objects, while the Siamese network matches the object targeted by the user’s gaze with the robot’s viewpoint. Both components are effectively designed to function in scenarios with partial occlusions. A key feature of the system is the user’s ability to move freely around the scenario, allowing dynamic object selection via gaze from any position. The system is capable of handling significant viewpoint differences between the user and the robot and adapts easily to new objects. In tests under partial occlusion conditions, the Siamese networks demonstrated an 85.2% accuracy in aligning the user-selected object with the robot’s viewpoint. This gaze-based Human–Robot Interaction approach demonstrates its practicality and adaptability in real-world scenarios.
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Rigatos, Gerasimos. "A Nonlinear Optimal Control Approach for Tracked Mobile Robots." Journal of Systems Science and Complexity 34, no. 4 (2021): 1279–300. http://dx.doi.org/10.1007/s11424-021-0036-1.
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YAMASHINA, Ryota, Yuta TANDA, Asuto TANIGUCHI, Edric John Cruz NACPIL, Hiroshi SHIMURA, and Atsuo KAWAGUCHI. "Autonomous Mobile Robots using Tracked Vehicle for Rough Terrain." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018 (2018): 2A1—H01. http://dx.doi.org/10.1299/jsmermd.2018.2a1-h01.
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