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Journal articles on the topic 'Two wheels robot'

Author: Grafiati

Published: 4 June 2025

Last updated: 1 August 2025

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1

Zhao, Jianwei, Yuanshuang Liu, Yuanyuan Qu, Feng Bian, and Yu Ban. "Model and simulation of four-wheeled robot based on Mecanum wheel." International Journal of Modeling, Simulation, and Scientific Computing 08, no. 02 (2016): 1750015. http://dx.doi.org/10.1142/s1793962317500155.

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Based on Mecanum wheels and “[Formula: see text]”-shaped planetary wheels, we combine these two kinds of wheels’ respective motion principle with their advantages to design a new type of four-wheeled robot: install the Mecanum wheels at the end of “[Formula: see text]”-shaped planetary wheel group. The wheel designed based on Mecanum wheels and “[Formula: see text]”-shaped planetary wheel can adapt to the complex terrain such as stairs, steps, and at the same time it can achieve the rotation of the whole body in a limited space. This paper studies the adaptability of the four-wheeled robot to

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2

M.Venkatesulu. "SELF BALANCING ROBOT CONTROLLED BY BLUETOOTH MODULE." International Journal of Research in Aeronautical and Mechanical Engineering 11, no. 6 (2023): 20–38. https://doi.org/10.5281/zenodo.8138431.

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To make a robot that can balance on two wheels. There will be only one axle connecting the two wheels, and a platform will be mounted on that. There will be another platform above it. The platform will not remain stable by itself. The functioning of the device is to balance the platform using distance sensors as Gyroscope sensor (Gyro MPU6050) and to maintain it horizontal. Firstly to just balance the robot on its two wheels,if the platform inclines, then the microcontroller (in this case, an Arduino Nano) will send signals to motors such that motors will move forward or backward depending on

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3

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

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

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Lan, Guiping, Yujun Wang, Can Fang, and Min Yi. "Novel Design of a Biaxial and Four-Wheeled Robot Capable of Steering." MATEC Web of Conferences 160 (2018): 06006. http://dx.doi.org/10.1051/matecconf/201816006006.

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The paper presents a biaxial and four-wheeled robot, mainly composed of two axle, two circular wheels and two three-leaved wheels. By analyzing the difference between the velocity of the circular wheel and three-leaved wheel in same axle, the steering principle of the difference velocity is proved. The three-leaved wheels are installed by a complementary phase method to ensure the stability of the robot walking. Through the steering principle, the control method of robot’s forward, backward, turn left and turn right is designed. A large number of experimental results show that the robot has th

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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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He, Zhihang, Wei Wang, Huaping Ruan, et al. "A two-wheel load balance control strategy for an HVTL inspection robot based on second-order sliding-mode." Industrial Robot: the international journal of robotics research and application 46, no. 1 (2019): 83–92. http://dx.doi.org/10.1108/ir-10-2018-0212.

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Purpose Overhead high-voltage transmission line (HVTL) inspection robots are used to inspect the transmission lines and/or maintain the infrastructures of a power transmission grid. One of the most serious problems is that the load on the front wheel is much larger than that on the back one when the robot travels along a sloping earth wire. Thus, ongoing operation of the inspection robot mainly depends on the front wheel motor’s ability. This paper aims to extend continuous operation time of the HVTL inspection robots. Design/methodology/approach By introducing a traction force model, the auth

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Bu, Yongjian, Lide Dun, Yongtao Deng, Bingdong Jiang, Aihua Jiang, and Haifei Zhu. "Development of a Bicycle-like Magnetic-Wheeled Climbing Robot with Adaptive Plane-Transition Capabilities." Machines 13, no. 2 (2025): 167. https://doi.org/10.3390/machines13020167.

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Although robots are increasingly expected to perform inspection tasks in three-dimensional ferromagnetic structural environments, magnetic-wheeled climbing robots face significant challenges in overcoming obstacles and transiting between planes. In this paper, we propose a novel bicycle-like magnetic-wheeled climbing robot, named BiMagBot, featuring two magnetic wheels that allow the adaptive adjustment of magnetic adhesion without the need for active control. The front wheel incorporates an arc tentacle mechanism that rotates a ring magnet to adjust the magnetic adhesion, while the rear wheel

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8

Jatsun, S. F., V. V. Bartenev, E. N. Politov, and D. V. Afonin. "MODELING THE MOTION OF THE ROBOT-TRACTOR FOR TRANSPORTING AIRCRAFT ON THE AIRFIELD." Proceedings of the Southwest State University 22, no. 2 (2018): 34–43. http://dx.doi.org/10.21869/2223-1560-2018-22-2-34-43.

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Towing aircraft ensures the effective functioning of the modern airport, including the military. In military aviation at alarm efficiency and coherence of work of tow trucks is the extremely important task. The article is devoted to solving the actual problem of automation of the process of towing aircraft on the territory of airfields. The paper describes the design of a three-wheeled mobile robot with two independent driving wheels, designed for the transportation of aircraft at airports. The driving wheels are located behind the center of mass, which ensures stable straight-line movement of

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Takahashi, Naoki, and Kenichiro Nonaka. "Model Predictive Leg Configuration Control for Leg/Wheel Mobile Robots that Adapts to Changes in Ground Level." Journal of Robotics and Mechatronics 35, no. 1 (2023): 160–70. http://dx.doi.org/10.20965/jrm.2023.p0160.

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Leg/wheel mobile robots, which have articulated legs ending in a wheel, can walk on legs as well as drive on wheels by switching between those two motive mechanisms in response to the terrain. However, effective control of the redundant degrees of freedom of leg/wheel mobile robots is complex. In this study, we propose a model predictive controller for leg configuration control that achieves both driving along the ground surface and climbing over a step. The proposed method simultaneously optimizes the robot pose, wheel positions, and joint angles. To consider the kinematic configuration of th

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Ghazal, M., A. Talezadeh, M. Taheri, and M. Nazemi-Zade. "The Mobile Robot HILARE: Dynamic Modeling and Motion Simulation." IAES International Journal of Robotics and Automation (IJRA) 4, no. 2 (2015): 150. http://dx.doi.org/10.11591/ijra.v4i2.pp150-155.

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To perform mission in variant environment, several types of mobile robot has been developed an implemented. The mobile robot HILARE is a known wheeled mobile robot which has two fixed wheels and an off-entered orientable wheel. Due to extended application of this robot, its dynamic analysis has attracted a great deal of interests. This article investigates dynamic modeling and motion analysis of the mobile robot HILARE. As the wheels of the robot have kinematic constraints, the constraints of wheels are taken into consideration and the matrix form of the kinematic model of the robot is derived

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Nguyen, Phong-Luu, Van-Dong-Hai Nguyen, Minh-Phuoc Cu, et al. "PID Controller for Balancing One-Wheeled Self-Balancing Robot." Robotica & Management 27, no. 1 (2022): 23–27. http://dx.doi.org/10.24193/rm.2022.1.5.

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One-wheeled self-balancing robot is a high-order SIMO system. It is developed from bicycle balancing and two-wheeled self-balancing robot by using only one wheel instead of two wheels. In this paper, we consider this model as two combined SIMO systems. Thence, a PID control structure is designed to balance this model not falling on a plane. Simulations are shown to prove again the ability of PID controllers in balancing this robot is two directions. Besides, we present a hardware platform of one-wheel self-balancing robot. Through the real model, PID control algorithm is proved to balance this

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Gracia, Luis, and Josep Tornero. "A new geometric approach to characterize the singularity of wheeled mobile robots." Robotica 25, no. 5 (2007): 627–38. http://dx.doi.org/10.1017/s0263574707003578.

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SUMMARYThis research presents a new and generic geometric approach that characterizes the kinematic singularity of wheeled mobile robots. First, the kinematic models of all the common wheels are obtained: fixed, centered orientable, castor, and Swedish. Then, a procedure for generating robot kinematic models is presented based on the set of wheel equations and the null space concept. Next, two examples are developed to illustrate the nongeneric singularity characterization. In order to improve that approach, a generic and practical geometric approach is established to characterize the singular

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Žák, Marek, Jaroslav Rozman, and František V. Zbořil. "Design and Control of 7-DOF Omni-directional Hexapod Robot." Open Computer Science 11, no. 1 (2020): 80–89. http://dx.doi.org/10.1515/comp-2020-0189.

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AbstractLegged robots have great potential to travel across various types of terrain. Their many degrees of freedom enable them to navigate through difficult terrains, narrow spaces or various obstacles and they can move even after losing a leg. However, legged robots mostly move quite slowly. This paper deals with the design and construction of an omni-directional seven degrees of freedom hexapod (i.e., six-legged) robot, which is equipped with omnidirectional wheels (two degrees of freedom are used, one for turning the wheel and one for the wheel itself) usable on flat terrain to increase tr

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Crenganis, Mihai, Cristina Biris, and Claudia Girjob. "Mechatronic Design of a Four-Wheel drive mobile robot and differential steering." MATEC Web of Conferences 343 (2021): 08003. http://dx.doi.org/10.1051/matecconf/202134308003.

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This paper presents, the development of an autonomous mobile robot with a four-wheel drive and differential locomotion. The mobile robot was developed in the Machines and Industrial Equipment Department from the Engineering Faculty of Sibiu. The main purpose of developing this type of mobile platform was the ability to transport different types of cargo either in industrial spaces or on rough terrain. Another important objective was that this platform could be driven in confined or tight spaces where a high degree of manoeuvrability is necessary. The great advantage of this type of mobile plat

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15

Mohanraj, A. P., A. Elango, and Mutra Chanakya Reddy. "Front and Back Movement Analysis of a Triangle-Structured Three-Wheeled Omnidirectional Mobile Robot by Varying the Angles between Two Selected Wheels." Scientific World Journal 2016 (2016): 1–11. http://dx.doi.org/10.1155/2016/7612945.

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Omnidirectional robots can move in all directions without steering their wheels and it can rotate clockwise and counterclockwise with reference to their axis. In this paper, we focused only on front and back movement, to analyse the square- and triangle-structured omnidirectional robot movements. An omnidirectional mobile robot shows different performances with the different number of wheels and the omnidirectional mobile robot’s chassis design. Research is going on in this field to improve the accurate movement capability of omnidirectional mobile robots. This paper presents a design of a uni

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Jatsun, S. F., L. Yu Vorochaeva, and S. I. Savin. "Study of Orientation Control for a Wheeled Jumping Robot in the Flight Phase of Motion." Mekhatronika, Avtomatizatsiya, Upravlenie 20, no. 4 (2019): 236–43. http://dx.doi.org/10.17587/mau.20.236-243.

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The work studies the flight phase (a part of jumping motion) of a jumping robot. The robot consists of the body with wheeled base and a jump booster module installed in the body. The jump booster module allows the robot to accelerate in a given direction up to a predetermined speed, allowing to control the velocity of the robot at the moment when it breaks contact with the supporting surface. The goal of this study is to develop a control system for the robot’s wheels, allowing to use their inertial properties to control the robot orientation at the moment of landing. This is achieved by contr

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Ikeda, Hidetoshi, Takuya Kawabe, Ryousuke Wada, and Keisuke Sato. "Step-Climbing Tactics Using a Mobile Robot Pushing a Hand Cart." Applied Sciences 8, no. 11 (2018): 2114. http://dx.doi.org/10.3390/app8112114.

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The present paper describes step-climbing tactics using a wheeled robot and a hand cart that has a hand brake. The robot has two arms that are used to hold or push the handle of the cart and a lower extendable wheel mechanism that can push against the bottom of the cart. Some of the manipulator joints are controlled passively when moving over the step. To lift the front wheels of the cart, the robot holds the handle steady and pushes against the bottom of the cart using the extendable wheel mechanism. This action is similar to that performed by a human. The robot then pushes the entire cart fo

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Bruzzone, Luca, Pietro Fanghella, and Giuseppe Quaglia. "Experimental Performance Assessment of Mantis 2, Hybrid Leg-Wheel Mobile Robot." International Journal of Automation Technology 11, no. 3 (2017): 396–403. http://dx.doi.org/10.20965/ijat.2017.p0396.

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Mantis 2 is a small-scale leg-wheel ground mobile robot, designed for exploration, surveillance and inspection tasks in unstructured environments. It is equipped with two actuated front wheels, two passive rear wheels, and two rotating legs with praying Mantis profile, specially conceived for step and obstacle climbing. Locomotion is purely wheeled on regular surfaces, with high energetic efficiency and maneuverability, and with stable camera vision. In case of obstacles or terrain irregularities, the rotating legs increase the motion capability. The main innovation of the second version is th

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Li, Ai Cheng, Huo Hong Tang, Bao Lin Feng, and Lu Li. "Analysis of Climbing Obstacle Capability and its Influential Factors of Omni-Directional Wheeled Robot." Advanced Materials Research 591-593 (November 2012): 717–21. http://dx.doi.org/10.4028/www.scientific.net/amr.591-593.717.

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The perpendicular climbing obstacle capability of omni-directional wheeled robot was studied, based on simplified mechanics model. The relation between influential factors and perpendicular climbing obstacle height was given under two conditions: simultaneously climbing obstacle by two front wheels and simultaneously climbing obstacle by two rear wheels. Then maximum perpendicular climbing obstacle height of this omni-directional wheeled robot was calculated. Simulation analysis to the result by MATLAB was done. The simulation analysis gave theoretical foundation to the climbing obstacle capab

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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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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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Lee, S. S., and J. H. Williams. "A fast tracking error control method for an autonomous mobile robot." Robotica 11, no. 3 (1993): 209–15. http://dx.doi.org/10.1017/s0263574700016076.

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SUMMARYThis paper proposes a fast tracking error control method for a mobile robot with two differentially driven wheels. The tracking error between reference state and current state is transformed to the required displacement changes of each drive wheel by a wheel Jacobian. The major objective of this paper is to propose a control method for eliminating the tracking error quickly by controlling two independent driving wheels at the same time. To avoid long computational requirements of a Cartesian-based control, a kinematic model of the vehicle and co-ordinate system are introduced. Several s

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Bruzzone, Luca, and Pietro Fanghella. "Mantis: hybrid leg-wheel ground mobile robot." Industrial Robot: An International Journal 41, no. 1 (2014): 26–36. http://dx.doi.org/10.1108/ir-02-2013-330.

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Purpose – The aim of the research is the development of a small-scale ground mobile robot for surveillance and inspection; the main design goals are mobility in indoor environments with step climbing ability, pivoting around a vertical axis and without oscillations for stable vision, mobility in unstructured environments, low mechanical and control complexity. Design/methodology/approach – The proposed hybrid leg-wheel robot is characterized by a main body equipped with two actuated wheels and two praying Mantis rotating legs; a rear frame with two idle wheels is connected to the main body by

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Jánoš, Rudolf, Mikuláš Hajduk, Ján Semjon, and Ľuboslava Šidlovská. "Design of Hybrid Mobile Service Robot." Applied Mechanics and Materials 245 (December 2012): 255–60. http://dx.doi.org/10.4028/www.scientific.net/amm.245.255.

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Wheels and legs are two widely accepted methodology used to move the moving platform to the ground. Wheels are human inventions, the rolls in a straight country excel in energy efficiency and speed of movement. Hybrid platform for integrating the benefits of legs and wheels with high mobility of both seems to be the "future" of mobile platforms for indoor and outdoor environment. This paper describes the design leg-wheel chassis for service robot.

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Liu, Yanjie, Yanlong Wei, Chao Wang, and Heng Wu. "Trajectory Optimization for Adaptive Deformed Wheels to Overcome Steps Using an Improved Hybrid Genetic Algorithm and an Adaptive Particle Swarm Optimization." Mathematics 12, no. 13 (2024): 2077. http://dx.doi.org/10.3390/math12132077.

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Two-wheeled mobile robots with deformed wheels face low stability when climbing steps, and their success rate in overcoming steps is affected by the trajectory. To address these challenges, we propose an improved hybrid genetic and adaptive particle swarm optimization (HGAPSO) algorithm to optimize the deformed wheels’ trajectory for overcoming steps. HGAPSO optimizes the maximum and minimum values of the inertial weight and learning factors of the adaptive particle swarm algorithm utilizing the region-wide search capabilities of the genetic algorithm, which substantially improves the converge

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Mishra, Swati, Mukesh Sharma, and Santhakumar Mohan. "Behavioural Fault tolerant control of an Omni directional Mobile Robot with Four mecanum Wheels." Defence Science Journal 69, no. 4 (2019): 353–60. http://dx.doi.org/10.14429/dsj.69.13607.

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This paper analyses the four-mecanum wheeled drive mobile robot wheels configurations that will give near desired performance with one fault and two faults for both set-point control and trajectory-tracking (circular profile) using kinematic motion control scheme within the tolerance limit. For one fault the system remains in its full actuation capabilities and gives the desired performance with the same control scheme. In case of two-fault wheels all combinations of faulty wheels have been considered using the same control scheme. Some configurations give desired performance within the tolera

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Zhou, Xue Feng, Li Jiang, Chuan Wu Cai, and Hai Fei Zhu. "RMRS: A Reconfigurable Modular Robot System and its Applications." Advanced Materials Research 569 (September 2012): 466–71. http://dx.doi.org/10.4028/www.scientific.net/amr.569.466.

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Modules have been widely used in development of various robots including reconfigurable robots. To build robots flexibly and quickly with low costs, we have developed two basic joint modules and several functional modules including grippers, suckers and wheels/feet as end-effectors. In this paper, we introduce the development of these modules, and present several novel robots built using them. Specifically, we show how to use them to set up a manipulator, a 6-DoF biped walking robot, a wheeled mobile robot, a biped tree-climbing robot, and a biped wall-climbing robot. It has been shown that a

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Zeidis, Igor, Klaus Zimmermann, Steffen Greiser, and Julia Marx. "Analysis of Kinematic Constraints in the Linkage Model of a Mecanum-Wheeled Robot and a Trailer with Conventional Wheels." Applied Sciences 13, no. 13 (2023): 7449. http://dx.doi.org/10.3390/app13137449.

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Mechanical systems that consist of a four-wheeled or two-wheeled robot with Mecanum wheels and a two-wheeled trailer with conventional wheels are considered. The kinematic characteristics of the mechanical systems under consideration of holonomic and non-holonomic constraints are presented and compared. From this, it is shown that the structure of the kinematic constraint equations for mobile systems with a trailer does not apply to Chaplygin’s dynamic equations. If the mechanical system is not Chaplygin’s system, then the dynamic equations cannot be integrated separately from the equations of

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Sendari, Siti, Alief Fajar Syahputra, Amalia Nurutami, Elista Kartika Sari, Ayunda Agus Rahma Dani, and Dava Desti Yanti. "Pemetaan Arena Kerja Menggunakan Sensor Ultrasonik Pada Robot Omnidireksional." Jurnal FORTECH 1, no. 1 (2020): 20–27. http://dx.doi.org/10.32492/fortech.v1i1.219.

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In this research, robot omnidirectional is designed for mapping area work. The omnidirectional robot has has a mechanical design that is different with the usual wheels. These wheels are designed to make the robot has an ability to move in Omni directions. With this system, the movement of the robot will have 2 degrees of freedom which can move on the x axis and the y axis. The Omni wheel consists of large core wheels and small wheels around the circumference of the wheels. This robot can avoid obstacles and map the arena by using ultrasonic sensors (HC-SR04). The robot designed and developed

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Ahmad, Fahmi, Sulaiman Marizan, Siradjuddin Indrazno, et al. "Stabilized controller of a two wheels robot." Bulletin of Electrical Engineering and Informatics 9, no. 4 (2020): 1357–63. https://doi.org/10.11591/eei.v9i4.1965.

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The Segway Human Transport (HT) robot, it is dynamical self-balancing robot type. The stability control is an important thing for the Segway robot. It is an indisputable fact that Segway robot is a natural instability framework robot. The case study of the Segway robot focuses on running balance control systems. The roll, pitch, and yaw balance of this robot are obtained by estimating the Kalman Filter with a combination of the pole placement and the Linear Quadratic Regulator (LQR) control method. In our system configuration, the mathematical model of the robot will be proved by Matlab Simuli

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Abdulghani, Noor Abdalmuhsan, Harith A. Hussein, and Ahmed S. Mohammed. "Electronic steering of a mobile robot for wall following and obstacle avoidance." Journal of Physics: Conference Series 2432, no. 1 (2023): 012023. http://dx.doi.org/10.1088/1742-6596/2432/1/012023.

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Abstract Robots, including mobile robots, provide many services in military, industrial and space applications. They shorten time, reduce expenses, and reduce danger to humans in places that may pose a threat to human life. Although the use of mobile robots in civil applications is few, it is in an increasing growth. Such as using it to transport goods in small neighbourhoods or to clean streets. Most of the algorithms in robot navigation are wall or path tracking through conventional sensors directly or through optical or physical sensors. Mobile robots are of different types, and these types

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Fahmi, Ahmad, Marizan Sulaiman, Indrazno Siradjuddin, et al. "Stabilized controller of a two wheels robot." Bulletin of Electrical Engineering and Informatics 9, no. 4 (2020): 1357–63. http://dx.doi.org/10.11591/eei.v9i4.1965.

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The Segway Human Transport (HT) robot, it is dynamical self-balancing robot type. The stability control is an important thing for the Segway robot. It is an indisputable fact that Segway robot is a natural instability framework robot. The case study of the Segway robot focuses on running balance control systems. The roll, pitch, and yaw balance of this robot are obtained by estimating the Kalman Filter with a combination of the pole placement and the Linear Quadratic Regulator (LQR) control method. In our system configuration, the mathematical model of the robot will be proved by Matlab Simuli

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Sona Fowzeya S, Afrith Mohideen R, Sindhu R, and Perarasi T. "MOVING FIRE FIGHTER ROBOT." international journal of engineering technology and management sciences 7, no. 2 (2023): 127–32. http://dx.doi.org/10.46647/ijetms.2023.v07i02.016.

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The earlier type of fire fighter robot has four wheels attached to its chassis in which the front two wheels control the direction of the body of the chassis. And the fire fighter robots usually has a fixed water hose which is able to extinguish only a certain distance. The objective of our project is to operate the robot for detecting the fire with 360 degree rotatable wheel which helps in reaching out the fired place in a minimal time duration and prevents the spread of fire less than the usual time and the 360 degree water splashing hose. This project is very useful in manufacturing industr

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Kong, Linghui, Dong Zhao, Jinyang Wang, Chuansheng Zhang, and Lingru Meng. "Stability analysis of multi-legged wheel robot." Journal of Physics: Conference Series 2343, no. 1 (2022): 012015. http://dx.doi.org/10.1088/1742-6596/2343/1/012015.

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In order to improve the terrain adaptability of the multi-legged wheel robot, CG Projection Method is used to analyse the longitudinal and lateral static stability of the robot. Firstly, the longitudinal and the lateral static stability model of the robot are established in the paper. Secondly, based on the lateral and longitudinal stability model established above, the appropriate factors, including the length of the connecting arm of the robot, the body mass, the angle of the connecting arm and the distance between the two wheels, are selected for orthogonal test analysis. Finally, it is sho

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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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Wei, Yongle, Jiashun Zhang, and Lijin Fang. "Walking Characteristics of Dual-Arm Inspection Robot with Flexible-Cable." Journal of Robotics 2021 (April 19, 2021): 1–14. http://dx.doi.org/10.1155/2021/8885919.

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The overhead transmission line has a catenary shape, which has great influence on the dynamic characteristics of an inspection robot walking along the line and may even cause the walking-wheel to fall from the line. Compared with other similar inspection robots, the unique structure of the dual-arm inspection robot with flexible-cable is introduced. Taking the dual-arm inspection robot with flexible-cable walking along the uphill section of the line as an example, the force states of the robot when it works at acceleration, uniform speed, deceleration, and stopping were studied in detail. The

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Choudhari, Anagha, Abhay Deshpande, Mayur Tirgure, Chiya Parihar, and Mrunal Jibhakate. "Rocker-Bogie Stair Climbing Robot." Journal of Physics: Conference Series 2251, no. 1 (2022): 012004. http://dx.doi.org/10.1088/1742-6596/2251/1/012004.

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Abstract Robotic technology is now applied in a variety of domains, including hazardous and urban situations, security, planetary systems, rescue missions, and military operations. The current mobility designs are difficult due to the amount of wheels or legs used. They are not designed to withstand the harsh environment of Mars in terms of mechanical breakdown. Four-Wheel rovers can navigate tough terrain thanks to an effective high degree of mobility suspension system. The rocker-bogie design’s most important mechanical feature is its drive train simplicity, which is achieved by having only

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Nakajima, Shuro. "RT-Mover: a rough terrain mobile robot with a simple leg–wheel hybrid mechanism." International Journal of Robotics Research 30, no. 13 (2011): 1609–26. http://dx.doi.org/10.1177/0278364911405697.

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There is a strong demand in many fields for practical robots, such as a porter robot and a personal mobility robot, that can move over rough terrain while carrying a load horizontally. We have developed a robot, called RT-Mover, which shows adequate mobility performance on targeted types of rough terrain. It has four drivable wheels and two leg-like axles but only five active shafts. A strength of this robot is that it realizes both a leg mode and a wheel mode in a simple mechanism. In this paper, the mechanical design concept is discussed. With an emphasis on minimizing the number of drive sh

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Vorochaeva, L. Yu, А. V. Malchikov, and S. I. Savin. "RANGES OF ADMISSIBLE VALUES OF GEOMETRIC PARAMETERS OF A WHEELED JUMPING ROBOT." Proceedings of the Southwest State University 22, no. 2 (2018): 76–84. http://dx.doi.org/10.21869/2223-1560-2018-22-2-76-84.

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The use of robots to perform tasks traditionally assigned to people leads to an improvement in the quality of their implementation, a reduction in the costs and risks associated with them. A typical example of this is the task of monitoring and examining hard-to-reach areas. The introduction of robots to solve such problems could bring a significant economic and social effect, allowing the automation of a number of complex, time-consuming and potentially dangerous tasks, such as the compilation and updating of maps and three-dimensional models of emergency sites, the collection of data on the

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Mudeng, Vicky, Barokatun Hassanah, Yun Tonce Kusuma Priyanto, and Okcy Saputra. "Design and Simulation of Two-Wheeled Balancing Mobile Robot with PID Controller." International Journal of Sustainable Transportation Technology 3, no. 1 (2020): 12–19. http://dx.doi.org/10.31427/ijstt.2020.3.1.3.

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Mobile transportation robots using two wheels have now been investigated. The work within this study is to design and simulate two-wheeled robots, thus it can maintain its balance. Many control methods are used to determine satisfactory control optimization, therefore a proper response is obtained by sensor recitation corresponding with the reaction of a Direct Current (DC) motor. Recently, two-wheeled transportation robot is a Segway model. In this study, we apply a Proportional Integral Derivative (PID) controller as a control system in a self-balancing robot with a working principle is simi

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Percy, Andrew, Ian Spark, Yousef Ibrahim, and Leon Hardy. "A numerical control algorithm for navigation of an operator-driven snake-like robot with 4WD-4WS segments." Robotica 29, no. 3 (2010): 471–82. http://dx.doi.org/10.1017/s0263574710000317.

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SUMMARYThis paper presents a new algorithm for the control of a snake-like robot with passive joints and active wheels. Each segment has four autonomously driven and steered wheels. The algorithm approximates the ideal solution in which all wheels on a segment have the same centre of curvature with wheel speeds, providing cooperative redundancy. Each hitch point joining segments traverses the same path, which is determined by an operator, prescribing the path curvature and front hitch speed. The numerical algorithm developed in this paper is simulation tested against a previously derived analy

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Kelemen, Michal. "DESIGN OF PUCK COLLECTING ROBOT." TECHNICAL SCIENCES AND TECHNOLOG IES, no. 4 (14) (2018): 178–82. http://dx.doi.org/10.25140/2411-5363-2018-4(14)-178-182.

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Urgency of the research. There is a need for service robots for cleaning, cutting the grass, vacuum cleaners, waste collectors etc. Service robots also can help with dangerous application like mine removing or inspection of dangerous places. Target setting. Puck collecting robot is designed for collecting of wood pucks in arena and bringing to home position. Actual scientific researches and issues analysis. Other similar task is collecting of products on production line in factory. Next possible application is collecting of any fruits or vegetable on plantation. Uninvestigated parts of general

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Rahmawaty, Made. "Modeling, Simulation, and Stabilization of Two Wheels Inverted Pendulum Robot Using Hybrid Fuzzy Control." Indonesian Journal of electronics, electromedical engineering, and medical informatics 3, no. 3 (2021): 93–98. http://dx.doi.org/10.35882/ijeeemi.v3i3.2.

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Two wheels inverted pendulum robot has the same characteristics as inverted pendulum, which are unstable and nonlinear. Nonlinear systems can often be linearized by approximating them by a linear system obtained by expanding the nonlinear solution in a series, and then linear techniques can be used. Fuzzy logic control is the famous nonlinear controller that has been used by researchers to analyze the performance of a system due to the easiness to understand the nature of the controller. This research discusses about two wheels inverted pendulum robot design using hybrid fuzzy control. There a

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Nakajima, Shuro, Eiji Nakano, and Takayuki Takahashi. "Free Gait Algorithm with Two Returning Legs of a Leg-Wheel Robot." Journal of Robotics and Mechatronics 20, no. 4 (2008): 661–68. http://dx.doi.org/10.20965/jrm.2008.p0661.

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The leg-wheel robot we developed has four legs and two wheels mechanically separated and operates with high mobility and stably on rough terrain. We propose a free gait algorithm for the leg-wheel robot that enables continuous locomotion under random velocity commands. The gait algorithm, based on a predictive event-driven approach, determines leg-lift timing to keep legs within prescribed work areas. The robot is operated remotely by an operator who uses a controller to give straight velocity and angular velocity. Our algorithm fully automates leg control via the operator's commands, and its

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Kim, Yongkuk, and Sangjoo Kwon. "Balancing-Prioritized Anti-Slip Control of a Two-Wheeled Inverted Pendulum Robot Vehicle on Low-Frictional Surfaces with an Acceleration Slip Indicator." Machines 11, no. 5 (2023): 553. http://dx.doi.org/10.3390/machines11050553.

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When a two-wheeled inverted pendulum (TWIP) robot vehicle travels on slippery roads, the occurrence of wheel slip extremely threatens its postural stability owing to the loss of wheel traction. If a severe wheel slip happens between the driving wheels and contact surfaces, no control techniques can guarantee the driving performance and stability of the TWIP robots in the absence of an extra wheel slip control strategy. In this paper, a TWIP-compatible countermeasure against the wheel slip phenomena is investigated for enhancing the reliability of the vehicle and the robustness of the motion co

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Wang, Zhong Min, and Bing Yan. "Motion Planning of Wheeled Mobile Robot Driven by Differential Wheels." Key Engineering Materials 392-394 (October 2008): 777–80. http://dx.doi.org/10.4028/www.scientific.net/kem.392-394.777.

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This paper studies the problem of motion planning of wheeled mobile robot (WMR), which is driven by double wheels separately. It mainly accomplish the motion planning of WMR by taking center of one of double wheels as a base point, and also carry out this problem by traditional method, which takes the midpoint of interval between two wheels as a base point. Besides, these two motion planning methods are compared. Experimental results show that the first motion planning method is simply controlled, saves much computer time and it establishes the foundation to solve the problem of real time cont

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Trojnacki, Maciej. "Model-Based Analysis of the Accuracy of Tracking Control and Energy Efficiency of a Six-Wheeled Skid-Steered Robot." Applied Sciences 14, no. 6 (2024): 2335. http://dx.doi.org/10.3390/app14062335.

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This article concerns the modeling and motion control of a mobile robot with six independently driven and non-steered wheels. The main research issue is analyzing the influence of the structure of the control system and wheel track on the control accuracy and energy efficiency during robot motion on horizontal paved ground. For this purpose, the kinematic relationships for the robot are discussed and a simplified dynamics model for control applications is developed. The robot’s dynamics model takes into account the most important phenomena of the wheel interaction with the paved ground, includ

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Park, Jaehong, Wonsang Hwang, Hyunil Kwon, Kwangsoo Kim, and Dong-il “Dan” Cho. "A novel line of sight control system for a robot vision tracking system, using vision feedback and motion-disturbance feedforward compensation." Robotica 31, no. 1 (2012): 99–112. http://dx.doi.org/10.1017/s0263574712000124.

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SUMMARYThis paper presents a novel line of sight control system for a robot vision tracking system, which uses a position feedforward controller to preposition a camera, and a vision feedback controller to compensate for the positioning error. Continuous target tracking is an important function for service robots, surveillance robots, and cooperating robot systems. However, it is difficult to track a specific target using only vision information, while a robot is in motion. This is especially true when a robot is moving fast or rotating fast. The proposed system controls the camera line of sig

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Larin, V. B. "Control of a Wheeled Transport Robot with Two Steerable Wheels." International Applied Mechanics 53, no. 5 (2017): 603–7. http://dx.doi.org/10.1007/s10778-017-0842-2.

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Pauliukavets, S. A., A. A. Velchenko, and A. A. Radkevich. "Behavior of a mobile robot with symmetrical structure of mecanium wheels when movement along a curvolinear trajectory." «System analysis and applied information science», no. 4 (December 30, 2024): 47–52. https://doi.org/10.21122/2309-4923-2024-4-47-52.

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The article presents a comparative analysis of two variants of symmetrical placement of omnidirectional mecanum wheels in a mobile robot. The modeling of the mobile robot behavior with two symmetrical variants of mecanum wheel arrangement along curvilinear trajectories in the MATLAB Simulink environment is considered. Graphs of the robot center trajectories in the X–Y axes are obtained for two variants of symmetrical mecanum wheel configurations when moving along the trajectories of a lemniscate, ellipse, hypotrochoid, and track. Dependences of the robot position errors in the X–Y axes on time

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