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Journal articles on the topic 'Wheel mobile robot'

Author: Grafiati

Published: 4 June 2025

Last updated: 1 August 2025

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1

Hijikata, Masaaki, Renato Miyagusuku, and Koichi Ozaki. "Wheel Arrangement of Four Omni Wheel Mobile Robot for Compactness." Applied Sciences 12, no. 12 (2022): 5798. http://dx.doi.org/10.3390/app12125798.

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Compact omnidirectional mobile robots are required to automate transportation of raw materials, products, etc. within an industrial plant. This paper focuses on omni wheel robots with low vibration and wheel arrangements that contribute to compactness. Due to its wheels’ configuration, our proposed compact robot may have different sensitivity to noise (controller) and different performance (errors) when following a predetermined path, compared to conventional ones. Using a simple DC motor, a robot with the proposed arrangement and a conventional robot run along a predetermined path. A linear–q

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2

Wang, Dianjun, Meng Xu, Ya Chen, et al. "Positioning Method of Four-Wheel-Steering Mobile Robots Based on Improved UMBmark of Michigan Benchmark Algorithm." Journal of Advanced Computational Intelligence and Intelligent Informatics 27, no. 2 (2023): 135–42. http://dx.doi.org/10.20965/jaciii.2023.p0135.

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To reduce the error of the odometer positioning system and improve the positioning accuracy of four-wheel-steering mobile robots, three types of coupling errors are considered, based on the University of Michigan Benchmark (UMBmark) method: unequal track width, unequal wheel diameter, and speed difference of ipsilateral wheels. A “dual direction square path experiment” is designed to decouple the error, a new system error model is defined, and an improved UMBmark method for a four-wheel mobile robot is proposed. In the mobile robot positioning system, a laser tracker is used to measure the abs

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3

Filomeno Amador, Luis Daniel, and Eduardo Castillo Castañeda. "Kinematic and dynamic analysis of an omnidirectional mobile platform driven by a spherical wheel." Mechanical Sciences 13, no. 1 (2022): 31–39. http://dx.doi.org/10.5194/ms-13-31-2022.

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Abstract. The increased use of spherical wheels has allowed mobile robots to have a higher degree of maneuverability, less complex path planning and less complex control schemes. The geometry and design of the mobile robot are the principal attributes that guarantee an omnidirectional motion. Furthermore, the platform uses an active spherical wheel and four passive spherical wheels to get the best stability when the robot uses a terminal element (Kärcher). The proposed model has been designed to improve the omnidirectional motion issues, such as vibration into the platform or lack of punctual

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Chehodar, A. A., O. V. Yastrubenko, and H. D. Bratchenko. "EQUATIONS OF MOTION A FOUR-WHEEL MOBILE ROBOT WITH INDIVIDUAL WHEEL DRIVE." Key title: Zbìrnik naukovih pracʹ Odesʹkoï deržavnoï akademìï tehnìčnogo regulûvannâ ta âkostì, no. 2(25) (2024): 50–59. https://doi.org/10.32684/2412-5288-2024-2-25-50-59.

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Unmanned ground vehicles are used in many areas associated with increased danger to people when performing tasks. Among such tasks: evacuation of the wounded from the battlefield; search for mines and clearing minefields; delivery of cargo under enemy fire; performance of tasks in conditions of radiation and chemical contamination, etc. This article studies the dynamics of a four-wheeled mobile robot with indi-vidual wheel control. The differential equations are derived to describe the motion of a four-wheeled mobile robot with individual wheel drive based on the vector-matrix formalism of non

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Tsung, Tsing Tshih, Yu Chieh Chang, and Tien Li Chen. "Using LOG Method to Measure Errors of Mobile Robots' Location." Applied Mechanics and Materials 339 (July 2013): 205–10. http://dx.doi.org/10.4028/www.scientific.net/amm.339.205.

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This paper presents an innovative Method to Measure Errors Of Mobile Robots Location. The innovative method is composed of a Laser pointer with Optical cross mark and a Grid paper (LOG method). The errors of a mobile robots location are included the precision and accuracy of the translation and rotation. Using the measured errors, the performance of a mobile robot can be evaluated. The Mecanum wheel is a conventional wheel with a series of rollers attached to its circumference and can move in any direction. In this research, the three encoders are used on a mobile robot with three Mecanum whee

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Radkevich, A. A., Shixin Yang, U. A. Zaretski, A. A. Velchenko, and S. A. Pauliukavets. "Analysis of castor wheels rotation of mobile differential drive robot." «System analysis and applied information science», no. 4 (January 12, 2024): 30–36. http://dx.doi.org/10.21122/2309-4923-2023-4-30-36.

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Mathematical models for controlling centrally oriented and non-centrally oriented rotary wheels of a mobile robot are considered. Based on the analysis of the kinematics of the mobile robot, the dependences of the rotation angle of the rear and front free wheel on the angular velocities of the right and left differentially driven drive wheel were obtained. For a specific mobile robot with certain kinematic parameters, graphs of the dependences of the angle of rotation of the free wheels on the radius of rotation of each wheel and graphs of the dependences of the angle of rotation of the free w

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7

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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Conduraru, Ionel, Ioan Doroftei, and Alina Conduraru Slatineanu. "A Mobile Robot with Modified Mecanum Wheels." Advanced Materials Research 1036 (October 2014): 775–80. http://dx.doi.org/10.4028/www.scientific.net/amr.1036.775.

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Mobile robots applications are demanding them to move in tight areas, to avoid obstacles, finding their way to the next location. In the case of wheeled robots, these abilities mainly depend on the wheels design. A mobile robot with omni-directional capabilities is very attractive because it guarantees a very good mobility in such cases, being able to move instantaneously in any direction from any configuration. These capabilities mainly depend on the wheels design. This paper provides some information about the mechanical design of an omni-directional mobile robot with modified Mecanum wheel,

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9

Kilin, A. A., Yu L. Karavaev, and V. A. Shestakov. "Motion of a Four-Wheeled Omnidirectional Mobile Robot without Slipping and Detachment from the Surface." Mekhatronika, Avtomatizatsiya, Upravlenie 24, no. 8 (2023): 403–11. http://dx.doi.org/10.17587/mau.24.403-411.

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The article is devoted to the motion analysis of a highly maneuverable mobile robot with four omniwheels, taking into account the conditions for the appearance of wheel detachment from the surface, and the occurrence of wheel slipping. Within the motion analysis the task of determination support reactions for a mobile robot is considered. To solve this task, the design of a mobile robot is presented in the form of the frame with rods. To disclosure the static indeterminacy of the considered system the forces method is used. Dependences of support reactions from the position of the center mass

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10

Palacín, Jordi, David Martínez, Elena Rubies, and Eduard Clotet. "Suboptimal Omnidirectional Wheel Design and Implementation." Sensors 21, no. 3 (2021): 865. http://dx.doi.org/10.3390/s21030865.

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The optimal design of an omnidirectional wheel is usually focused on the minimization of the gap between the free rollers of the wheel in order to minimize contact discontinuities with the floor in order to minimize the generation of vibrations. However, in practice, a fast, tall, and heavy-weighted mobile robot using optimal omnidirectional wheels may also need a suspension system in order to reduce the presence of vibrations and oscillations in the upper part of the mobile robot. This paper empirically evaluates whether a heavy-weighted omnidirectional mobile robot can take advantage of its

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Hijikata, Masaaki, Renato Miyagusuku, and Koichi Ozaki. "Omni Wheel Arrangement Evaluation Method Using Velocity Moments." Applied Sciences 13, no. 3 (2023): 1584. http://dx.doi.org/10.3390/app13031584.

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Wheeled omnidirectional mobile robots have been developed for industrial and service applications. Conventional research on Omni wheel robots has mainly been directed toward point-symmetric wheel arrangements. However, more flexible asymmetric arrangements may be beneficial to prevent tipping over or to make the robot more compact. Asymmetry can also be the result of a motor/wheel failure in a robot with a redundant configuration; in this case, it may be possible to continue operations, but with an asymmetrical arrangement. For controlling such asymmetric arrangements, it is necessary to consi

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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

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13

Mohanraj, A. P., P. Parameshwaran, B. P. Sivasubramaniyan, P. Srinivasan, and V. Nijanthan. "The Importance of the Fourth wheel in a Four-wheeled Omni Directional Mobile Robot-An Experimental Analysis." Journal of Physics: Conference Series 2601, no. 1 (2023): 012004. http://dx.doi.org/10.1088/1742-6596/2601/1/012004.

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Abstract A four-wheeled Omni Directional Robot may travel in any direction without turning its wheels. In this research work, four Omni-directional wheels have been placed at 90°. This four-wheeled, omnidirectional mobile robot appears to be a square design from the top view, with its wheel axes at 90 degrees. Power is given to the front wheel using a DC motor and that wheel alone will rotate. All other three wheels (Right, Left and Back) are kept in neutral positions. These wheels can move based on the front wheel’s rotation. No power given to these wheels. Three different practical analyses

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14

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

Hou, Linfei, Fengyu Zhou, Kiwan Kim, and Liang Zhang. "Practical Model for Energy Consumption Analysis of Omnidirectional Mobile Robot." Sensors 21, no. 5 (2021): 1800. http://dx.doi.org/10.3390/s21051800.

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The four-wheeled Mecanum robot is widely used in various industries due to its maneuverability and strong load capacity, which is suitable for performing precise transportation tasks in a narrow environment. While the Mecanum wheel robot has mobility, it also consumes more energy than ordinary robots. The power consumed by the Mecanum wheel mobile robot varies enormously depending on their operating regimes and environments. Therefore, only knowing the working environment of the robot and the accurate power consumption model can we accurately predict the power consumption of the robot. In orde

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16

Ghariblu, Hashem, Ali Moharrami, and Behnam Ghalamchi. "Design and Modeling of a Ball Wheel Mobile Robot." Advanced Materials Research 463-464 (February 2012): 1215–18. http://dx.doi.org/10.4028/www.scientific.net/amr.463-464.1215.

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A new generation for an omni-directional ball wheel mobile robot with unique driving mechanism is introduced. This driving system overcomes to problems arise using traditional omni-wheels such as, vibration, inappropriate to employ in outdoor applications and limited load capacity. Mechanical structure of this robot has several distinctive characteristics in comparison with our previous robot. Modularity of driving system is the most important ability of new robot, beside on appending a suspension system to improve behavior of robot in rough terrains. Due to independent operation of three ball

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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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18

Li, Jinfu, Yongxi Liu, Ze Yu, et al. "A Low-Energy Consumption Planning Method for Multi-Locomotion Wheel-Legged Mobile Robots." Machines 12, no. 2 (2024): 98. http://dx.doi.org/10.3390/machines12020098.

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Mobile robots can replace humans to fulfill tasks in dangerous environments, which has been a research focus in recent years. This paper proposes a wheel-legged mobile robot with multi-locomotion and a low-energy consumption planning method. Different from the existing wheel-legged mobile robots, it can realize low-energy movement in different terrains with simple structures, and it can realize three modes: synchronous, tumbling, and curl–stretch. Then, based on the kinematics and dynamics model, a low-energy planning method is proposed, and low-energy motion planning is carried out for the th

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Bae, Beomsu, and Dong-Hyun Lee. "Design of a Four-Wheel Steering Mobile Robot Platform and Adaptive Steering Control for Manual Operation." Electronics 12, no. 16 (2023): 3511. http://dx.doi.org/10.3390/electronics12163511.

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The recent advancementsin autonomous driving technology have led to an increased utilization of mobile robots across various industries. Notably, four-wheel steering robots have gained significant attention due to their robustness and agile maneuvering capabilities. This paper presents a novel four-wheel steering robot platform for research purposes and an adaptive four-wheel steering control algorithm for efficient manual operation. The proposed robot platform is specifically designed as a simple and compact research-oriented platform for developing navigation and manual operation of four-whe

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Okada, Tokuji, Abeer Mahmoud, Wagner Tanaka Botelho, and Toshimi Shimizu. "Trajectory estimation of a skid-steering mobile robot propelled by independently driven wheels." Robotica 30, no. 1 (2011): 123–32. http://dx.doi.org/10.1017/s026357471100035x.

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SUMMARYThis paper analyses a mobile robot with independently rotating wheels travelling on uneven but smooth ground, including ascending or descending surfaces. We formulate a mathematical expression for the energy cost of the robot's movement. For our analysis, we utilise the principle of virtual work and assume that the robot moves with a fixed arrangement of wheel axes and without using a steering handle. The mathematical model reveals that the coefficient of friction and the payload distribution dominate the wheel behaviour, including slipping and skidding. We minimise the virtual work exp

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Igo, Naoki, Daichi Fujita, Ryoma Hanabusa, Yasuto Nagase, Satoshi Mitsui, and Toshifumi Satake. "Docking Unit Joining Omni Wheel Robot and Mobile Robot." EPI International Journal of Engineering 2, no. 2 (2019): 132–38. http://dx.doi.org/10.25042/epi-ije.082019.07.

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This research realizes a docking unit joining omni wheel robot and mobile robot. The omni wheel robot cannot move on rough ground. In order to move on rough ground, a mobile robot that can move with the omni wheel robot is required. The docking unit aims at a unit that can be used without remodeling omni wheel robot. The docking unit realized by this research can store the fixed part of the omni wheel robot. When omni wheel robot is mounted, the mounting surface is flat because the fixed parts are stored, and the omni wheel robot can be mounted by sliding. As a result, we designed a mechanism

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22

Yeo, Gee Hwan, Jung Kim, and Bong Soo Kang. "Development of a Reconfigurable Mobile Robot and Precise Position Estimation Based on Extended Kalman Filter." Key Engineering Materials 326-328 (December 2006): 1225–28. http://dx.doi.org/10.4028/www.scientific.net/kem.326-328.1225.

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This paper presents design concepts of a reconfiguration mobile robot developed in Hannam University and experimental results of position estimation by multiple sensors. In order to achieve high reliability and mobility in maneuver, driving motors of the mobile robot are assembled inside the wheels of the mobile robot, and the rhombus-shaped structure of the mobile robot with four wheels yields as good adaptability to rough terrain as a six-wheel mobile robot. Since the proposed mobile robot receives multiple sensor signals from odometers and an orientation sensor, states related to position a

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Kim, Inho, Wonseok Jeon, and Hyunseok Yang. "Design of a transformable mobile robot for enhancing mobility." International Journal of Advanced Robotic Systems 14, no. 1 (2017): 172988141668713. http://dx.doi.org/10.1177/1729881416687135.

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This article proposes a design of a transformable mobile robot as a new concept of hybrid-type mobile robot in order to enhance mobility. Mobility considered in this work is based on stability, energy efficiency, and the capability to overcome obstacles. The proposed transformable mobile robot can change its bogie link lengths and wheel size. The relationships between mobility and the link length and the wheel size are studied. Its stability, energy efficiency, and the capability to overcome obstacles are compared through the simulations of three famous conventional passive bogie-type robots (

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Xu, Jiahui, Gang Liu, Jinhao Liu, Zhiyong Lv, and Song Gao. "EKF-based positioning study of a mobile robot with McNamee wheels." Journal of Physics: Conference Series 2281, no. 1 (2022): 012008. http://dx.doi.org/10.1088/1742-6596/2281/1/012008.

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Abstract This paper focuses on the localization of a McNamee wheel mobile robot, which has six states of motion and more complex kinematic equations than a normal mobile robot using a McNamee wheel. In this paper, the kinematic model of the McNamee wheel mobile robot is developed, and the extended Kalman filter algorithm (EKF) is used to fuse the inertial measurement unit (IMU) and the wheel encoder odometer information to estimate the position state of the mobile robot and to eliminate the environmental noise and the effect of wheel slippage. By comparing the estimated and calculated values w

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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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Zhileykin, M. M. "Improving the Energy Efficiency of Movement and Cross-Country Capacity of an Articulated Mobile Wheeled Robot by Controlling an Individual Electric Traction Drive." Proceedings of Higher Educational Institutions. Маchine Building, no. 5 (734) (May 2021): 17–23. http://dx.doi.org/10.18698/0536-1044-2021-5-17-23.

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Articulated wheel-walking robots having a good combination of weight and load capacity, as well as high cross-country capacity and maneuverability are among the promising schemes of mobile robotic systems. One of the main requirements for such complexes is a high level of autonomy. In this regard, the task of improving the energy efficiency of the articulated mobile wheeled robot movement (especially in long-term transport mode) by reducing the driving wheel skid becomes urgent. An algorithm for the operation of the antiskid system of such a robot with an individual traction electric drive has

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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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Peng, Ping, Xiao Jun Zhang, Guang Ming Yuan, and Zhe Liu. "Dynamic Analysis of the Wheel-Legged Mobile Robot." Applied Mechanics and Materials 344 (July 2013): 174–81. http://dx.doi.org/10.4028/www.scientific.net/amm.344.174.

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The design of the wheel-legged mobile robot is mainly used for the early toxic gas leakage warning and disaster relief in the field of wild environment. The robot needs to cross some obstacles such as ditch and step when carrying out a task. The paper analyzes the strategies of robot passing the all kinds of obstacles. Considering the influence of disturbance by uneven road surface, the dynamic model of robot crossing the step and groove on the uneven road surface is built based on the robots structural features. While the control model of front wheel-leg is also presented based on the robot d

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Ravikumar, T. Mathavaraj, and R. Saravanan. "Experimental investigation for better relative localization of a mobile robot using Taguchi method." Robotica 33, no. 7 (2014): 1415–23. http://dx.doi.org/10.1017/s0263574714000812.

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SUMMARYThe positioning of a wheeled robot is an imperative manipulation problem in mobile robotics. Odometry is a familiar method for determining the relative position of a mobile robot. It comprises the detection of a set of kinematic parameters that permit reconstructing the robot's absolute position and orientation starting from the wheels' encoder measurements. This paper deals with the determination of better relative localization of a mobile robot by means of odometry by considering the influence of parameters namely total weight, speed, diameter of wheel, and width of wheel. Experiments

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Radkevich, А. А., Wu Xinxin, А. А. Velchenko, and S. A. Pauliukavets. "Mathematical Model of Movement of a Mobile Robot with Omnidirectional Wheels." Doklady BGUIR 22, no. 1 (2024): 82–90. http://dx.doi.org/10.35596/1729-7648-2024-22-1-82-90.

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The article discusses the issue of controlling a four-wheeled mobile robot with omnidirectional wheelsof the mecanum type. An analysis of the rotational motion of the omnidirectional mecanum wheel was carriedout, based on its kinematics. For a specific robot with certain overall parameters, a graph of changes in the radiusof the mecanum wheel depending on the angle of its rotation was constructed. Kinematic and dynamic modelsof a mobile four-wheeled robot have been compiled, taking into account its geometric characteristics. The presented expressions are a mathematical description of the behav

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Truong, Le Phuong, Huan Liang Tsai Liang Tsai, and Huynh Cao Tuan. "DEVELOPMENT OF DIRECTIONAL ALGORITHM FOR THREE-WHEEL OMNIDIRECTIONAL AUTONOMOUS MOBILE ROBOT." Vietnam Journal of Science and Technology 59, no. 3 (2021): 345. http://dx.doi.org/10.15625/2525-2518/59/3/15583.

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A The proposed system developed an omnidirectional algorithm to control autonomous mobile robots with three wheels. The implementation system consists of three Planet DC motors with rated power of 80 W for three wheels, three encoders for speed feedback, one encoder for distance feedback, and one digital compass sensor for angle feedback. The main system with an STM32F407 microcontroller is designed for directional control of wheels based the signal received from compass sensor and encoder and then controls three subsystems to adjust the steering speed of each wheel. The sub-system is built to

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Thangavel, M., S. Raghavan, R. Raviprakash, V. Rubesh Raja, and Shankar Manickam. "Design and Development of Swarm Robots for Security Applications." Applied Mechanics and Materials 110-116 (October 2011): 4757–64. http://dx.doi.org/10.4028/www.scientific.net/amm.110-116.4757.

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In this paper, a robot design suitable for swarm based security system is presented. First, a possible layout for swarm based security system is conceptualized and literatures related to mobile robot design are reviewed. Second, a set of conceptual designs for the swarm robot are evolved and discussed. Third, expressions are arrived for weight, rolling resistance, obstacle crossing ability and amount of slip based on robot geometric parameters. Fourth, the obstacle crossing ability for rear wheel driven and rear wheel driven robots are investigated. Fifth, a prototype is made and the analytica

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Zhou, Faliang, Xiaojun Xu, Haijun Xu, Yukang Chang, Qi Wang, and Jinzhou Chen. "Implementation of a Reconfigurable Robot to Achieve Multimodal Locomotion Based on Three Rules of Configuration." Robotica 38, no. 8 (2019): 1478–94. http://dx.doi.org/10.1017/s0263574719001589.

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SUMMARYIn this paper, we focus on the configuration design of a reconfigurable robot that merges the functions of wheels, tracks, and legs together. A deformable rim is utilized to make the robot wheel reconfigurable to change its locomotion mode. Three rules of configuration design to achieve reconfiguration between different modes are proposed: (1) in wheel mode, the track wheel set should be hidden inside the wheel rim; (2) in track/leg mode, the folded wheel rim should be hidden inside the caterpillar loop; (3) the circumference of the wheel rim in wheel mode should be equal to the length

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Flögel, Daniel, Neel Pratik Bhatt, and Ehsan Hashemi. "Infrastructure-Aided Localization and State Estimation for Autonomous Mobile Robots." Robotics 11, no. 4 (2022): 82. http://dx.doi.org/10.3390/robotics11040082.

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A slip-aware localization framework is proposed for mobile robots experiencing wheel slip in dynamic environments. The framework fuses infrastructure-aided visual tracking data (via fisheye lenses) and proprioceptive sensory data from a skid-steer mobile robot to enhance accuracy and reduce variance of the estimated states. The slip-aware localization framework includes: the visual thread to detect and track the robot in the stereo image through computationally efficient 3D point cloud generation using a region of interest; and the ego motion thread which uses a slip-aware odometry mechanism t

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Wu, Xu Xin, Xu Long Zhang, Huai Dong Zhou, and Wu Sheng Chou. "Modeling and Simulation of Omni-Directional Mobile Robot with Mecanum Wheel." Applied Mechanics and Materials 624 (August 2014): 417–23. http://dx.doi.org/10.4028/www.scientific.net/amm.624.417.

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In this paper, an omni-directional mobile robot with mecanum wheel was designed. Based on mathematical modeling theory and the virtual prototype software called Adams, the mathematical model of mobile robot was built and the kinetic characteristic was simulated. So we can ensure that the mobile robot with mecanum wheel has omni-directional movement characteristic. The reliability of the mathematical model has been verified through the comparision of the the mathematical calculation and simulation result. At the same time a new method was put forward to ensure all the mobile platform wheels can

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Liang, Lunfei, Houde Liu, Xinliang Li, et al. "Model-Based Coordinated Trajectory Tracking Control of Skid-Steer Mobile Robot with Timing-Belt Servo System." Electronics 12, no. 3 (2023): 699. http://dx.doi.org/10.3390/electronics12030699.

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Four-wheel, independently driven skid-steer mobile robots have been widely used in some fields, such as indoor product shipping and outdoor inspection and exploration. Traditional skid-steer mobile robot controllers often use a kinematics controller to obtain the desired speed of each wheel, complete speed closed-loop control of each wheel and achieve the robot’s trajectory tracking control. However, the controller based on kinematics may lead to robot chattering and wheel spin from being directly driven by the motor on uneven grounds. To solve these problems, we developed a four-wheel, indepe

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Harsa Dhani, Nereus Tugur Redationo, and William Dhancis. "ASSESSMENT OF MOBILE ROBOT LOAD-CARRYING POTENTIAL VIA DC GEARBOX MOTOR TORQUE." Mechanical, Energy and Material (METAL) 2, no. 1 (2024): 16–21. https://doi.org/10.59581/metal.v2i1.93.

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The primary function of mobile robots is to transport various loads, including their own weight and additional cargo. Ensuring adequate torque in the wheel motors is crucial for effective load-bearing and movement. This study investigates the load-carrying capabilities of the TT DC gearbox motor, a popular and cost-effective choice for small robots. A mobile robot equipped with four TT DC gearbox motors and employing skid steering locomotion was constructed for this purpose. The robot featured a container designed to carry sand, and its load capacity was tested by gradually increasing the weig

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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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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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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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Xu, He, X. Z. Gao, Yan Xu, et al. "Continuous mobility of mobile robots with a special ability for overcoming driving failure on rough terrain." Robotica 35, no. 10 (2016): 2076–96. http://dx.doi.org/10.1017/s0263574716000606.

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SUMMARYFor wheeled mobile robots moving in rough terrains or uncertain environments, driving failure will be encountered when trafficability failure occurs. Continuous mobility of mobile robots with special ability for overcoming driving failure on rough terrain has rarely been considered. This study was conducted using a four-wheel-steering and four-wheel-driving mobile robot equipped with a binocular visual system. First, quasi-static force analysis is carried out to understand the effects of different driving-failure modes on the mobile robot while moving on rough terrain. Secondly, to make

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Leng, Jie, Haiming Mou, Jun Tang, Qingdu Li, and Jianwei Zhang. "Design, Modeling, and Control of a New Multi-Motion Mobile Robot Based on Spoked Mecanum Wheels." Biomimetics 8, no. 2 (2023): 183. http://dx.doi.org/10.3390/biomimetics8020183.

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This paper presents an exciting and meaningful design to make mobile robots capable of adapting to various terrains. We designed a relatively simple and novel composite motion mechanism called the flexible spoked mecanum (FSM) wheel and created a mobile robot, LZ-1, with multiple motion modes based on the FSM wheel. Based on the motion analysis of the FSM wheel, we designed an omnidirectional motion mode for this robot, allowing it to move flexibly in all directions and successfully traverse rugged terrains. In addition, we designed a crawl motion mode for this robot, which can climb stairs ef

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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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Tao, Yuan, Chunyan Gao, Yusheng Shi, Manhong Li, Minglu Zhang, and Dongle Liu. "Analysis of Motion Characteristics and Stability of Mobile Robot Based on a Transformable Wheel Mechanism." Applied Sciences 12, no. 23 (2022): 12348. http://dx.doi.org/10.3390/app122312348.

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In this research, we propose a novel wheel-legged mobile robot to address the problems of insufficient obstacle-crossing performance and poor motion flexibility of mobile robots in non-structural environments. Firstly, we designed the transformable wheel mechanism and tail adaptive mechanism. Secondly, the kinematic model of the robot is established and solved by analyzing the whole motion and wheel-legged switching motion for the operation requirements under different road conditions. By synthesizing the constraint relationships among the modules and analyzing the robot’s obstacle-crossing ab

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Rutvik Mehenge, Niket Satoskar, Anukool Shidhore, and N. Mohamed Arshath. "Kinematic and optimal design of a three-wheeled holonomic omnidirectional robot platform for mobile manipulation tasks." Global Journal of Engineering and Technology Advances 17, no. 1 (2023): 045–54. http://dx.doi.org/10.30574/gjeta.2023.17.1.0202.

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Mobile manipulator robots are increasingly vital in industrial and service sectors, serving roles in assembly, inspection, and hazardous environments. The integration of a manipulator with a mobile robot base imposes unique demands on the vehicle's drive system. This paper introduces a three-wheel holonomic omnidirectional robot designed for mobile applications. It explores kinematic equations, electronic integration, and mechanical design for holonomic motion. This platform excels in mobility, capable of simultaneous translation and rotation, facilitating precise multidirectional motion. Its

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Rutvik, Mehenge, Satoskar Niket, Shidhore Anukool, and Mohamed Arshath N. "Kinematic and optimal design of a three-wheeled holonomic omnidirectional robot platform for mobile manipulation tasks." Global Journal of Engineering and Technology Advances 17, no. 1 (2023): 045–54. https://doi.org/10.5281/zenodo.10674800.

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Mobile manipulator robots are increasingly vital in industrial and service sectors, serving roles in assembly, inspection, and hazardous environments. The integration of a manipulator with a mobile robot base imposes unique demands on the vehicle's drive system. This paper introduces a three-wheel holonomic omnidirectional robot designed for mobile applications. It explores kinematic equations, electronic integration, and mechanical design for holonomic motion. This platform excels in mobility, capable of simultaneous translation and rotation, facilitating precise multidirectional motion. Its

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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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Racz, Sever-Gabriel, Mihai Crenganiș, Radu-Eugen Breaz, et al. "Mobile Robots—AHP-Based Actuation Solution Selection and Comparison between Mecanum Wheel Drive and Differential Drive with Regard to Dynamic Loads." Machines 10, no. 10 (2022): 886. http://dx.doi.org/10.3390/machines10100886.

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Mobile robots are increasingly used in industrial applications. There are many constructive solutions for mobile robots using various variants of actuation and control. The proposed work presents a low-cost variant of a mobile robot equipped with Mecanum wheels, which uses brushed DC motors, controlled by the PWM method as the actuation solution. In the first part, a multicriteria analysis based on the AHP method was performed for the selection of the actuation solution. Then, using the software tools Simscape Multibody, Matlab, and Simulink, models were developed that allowed the simulation o

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Peng, Ping, Xiao Jun Zhang, Jun Zhang, and Zhe Liu. "Research on Kinematic of the Wheel-Legged Robot Based on Uneven Road Surface." Advanced Materials Research 712-715 (June 2013): 2312–19. http://dx.doi.org/10.4028/www.scientific.net/amr.712-715.2312.

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A new type of wheel-legged mobile robot is presented in the paper, which is mainly used for early toxic gas leakage warning and disaster relief in the field of wild environment. The paper first presents the structure feature of the new wheel-legged mobile robot. According to the structure of the robot, the kinematics model about robot moving on the smoothing-riding surface is built. On this basis, considering the effects of the disturbance by uneven road surface the paper carries out the robots kinematics analysis. To simulate the result of robot moving on the real road surface, the paper rese

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Shi, Qi, and Jucheng Wang. "Design and Realization of Mobile Robot Driven by Omnidirectional Wheels." Journal of Physics: Conference Series 2402, no. 1 (2022): 012035. http://dx.doi.org/10.1088/1742-6596/2402/1/012035.

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Abstract Omnidirectional mobile robot refers to a robot technology that can move in any direction on the ground. Aiming at the problems of complex control, low driving efficiency, and poor carrying capacity of ordinary omnidirectional mobile robots, an omnidirectional wheel-driven mobile robot was proposed. The robot can achieve traverse characteristic motion with zero gyration radius without changing its attitude. Through the kinematic analysis of the mobile robot equipped with this wheelset, the omnidirectional motion function of efficient driving is verified. Prototype experiments show that

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