Relevant bibliographies by topics / Wheel robot

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Wheel robot'

Author: Grafiati
Published: 4 June 2021
Last updated: 15 February 2022

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Journal articles on the topic "Wheel robot"

1

He, Zhihang, Wei Wang, Huaping Ruan, Yanzhang Yao, Xuelong Li, Dehua Zou, Yu Yan, and Shaochun Jia. "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 (January 21, 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 authors have established a dynamic model of the robot with slip. The total load is evenly distributed to both wheels. According to the traction force model, the desired wheel slip is calculated to achieve the goal of load balance. A wheel slip controller was designed based on second-order sliding-mode control methodology. Findings This controller accomplishes the control objective, such that the actual wheel slip tracks the desired wheel slip. A simulation and experiment verify the feasibility of the load balance control system. These results indicate that the loads on both wheels are generally equal. Originality/value By balancing the loads on both wheels, the inspection robot can travel along the earth wire longer, improving its efficiency.
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Siravuru, Avinash, Suril V. Shah, and K. Madhava Krishna. "An optimal wheel-torque control on a compliant modular robot for wheel-slip minimization." Robotica 35, no. 2 (September 1, 2015): 463–82. http://dx.doi.org/10.1017/s0263574715000685.

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SUMMARYThis paper discusses the development of an optimal wheel-torque controller for a compliant modular robot. The wheel actuators are the only actively controllable elements in this robot. For this type of robots, wheel-slip could offer a lot of hindrance while traversing on uneven terrains. Therefore, an effective wheel-torque controller is desired that will also improve the wheel-odometry and minimize power consumption. In this work, an optimal wheel-torque controller is proposed that minimizes the traction-to-normal force ratios of all the wheels at every instant of its motion. This ensures that, at every wheel, the least traction force per unit normal force is applied to maintain static stability and desired wheel speed. The lower this is, in comparison to the actual friction coefficient of the wheel-ground interface, the more margin of slip-free motion the robot can have. This formalism best exploits the redundancy offered by a modularly designed robot. This is the key novelty of this work. Extensive numerical and experimental studies were carried out to validate this controller. The robot was tested on four different surfaces and we report an overall average slip reduction of 44% and mean wheel-torque reduction by 16%.
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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 (October 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, including the basic configuration array method, multiple wheels replacement method, and combination method. The first two methods can be used to create suitable multiple-Mecanum-wheel configurations for a single mobile robot based on the basic Mecanum wheel configuration. Multiple single robots can be arranged by combination methods including end-to-end connection, side-by-side connection, symmetrical rectangular connection, and distributed combination, and then, the abundant combination configurations of robots can be obtained. Examples of Mecanum wheel configurations design based on a symmetrical four-Mecanum-wheel configuration and three centripetal configurations using these topological design methods are presented. This work can provide methods and a reference for Mecanum wheel configurations design.
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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 (November 25, 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 of the track ring in track mode. According to these rules, the configuration of the deformable rim, track wheel set, and telescopic spoke are analyzed and designed. A prototype of the reconfigurable wheel is fabricated by three-dimensional printing, and its functions of locomotion in different modes, the switch between different modes, and its load-bearing ability are tested, verifying the effectiveness of the configuration design. Furthermore, a prototype of the reconfigurable robot is manufactured by computerized numerical control (CNC) machining to verify the structural design of the reconfigurable wheel. Compared to traditional hybrid robots with separate wheels, tracks, and legs, this reconfigurable design lends the multimodal robot both excellent terrain adaptability and a compact structure; thus, it can be widely used as a universal mobile platform in search and rescue missions and explosive object disposal missions.
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Xu, Zhengyi, Yu Xie, Ke Zhang, Yongqiang Hu, Xiaopeng Zhu, and Hao Shi. "Design and optimization of a magnetic wheel for a grit-blasting robot for use on ship hulls." Robotica 35, no. 3 (December 1, 2015): 712–28. http://dx.doi.org/10.1017/s0263574715000788.

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SUMMARYThis paper describes an optimized magnetic wheel solution for use in a novel grit-blasting robot intended to be used on the hulls of ships. The grit-blasting robot was designed for conducting surface operations on newly-built ships in dry yards. It can be adapted to curvatures of up to 0.833 m−1; can achieve a total payload of 120 kg and can also be steered. The proposed magnetic wheel solution for robots with such payloads and surface adaptability has not been seen in previous work.As the magnetic force acting on a magnetic wheel is very sensitive to the working conditions, a mathematical model was built to derive the exact force requirements taking into account the mechanical structure of the robot and its disposition on the ship's hull. In this paper, the design of the wheels was optimized based on the model. Wheels were manufactured according to the optimized results and a prototype robot was constructed. The design was then validated using locomotion tests.
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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 (December 17, 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 travel speed and an additional coxa joint that makes the robot more robust when climbing inclined terrains. This unique combination of omnidirectional wheels and additional coxa joint makes the robot not only much faster but also more robust in rough terrains and allows the robot to ride inclined terrains up to 40 degrees and remain statically stable in slopes up to 50 degrees. The robot is controlled by a terrain adaptive movement controller which adjusts the movement speed and the gait of the robot according to terrain conditions.
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Rao, Wei, Jia Dong Shi, and Jian Zhong Wang. "Dynamic Analysis for Articulated-Tracked Robot Climbing Stairs." Advanced Materials Research 889-890 (February 2014): 483–87. http://dx.doi.org/10.4028/www.scientific.net/amr.889-890.483.

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Climbing stairs is one of the important functions of the articulated-tracked robot obstacle, the robot can be improved through the complex terrain capability. The robot is conducted action planning for climbing stair. Action planning of the robot, speed and acceleration of position change of the robot's center of mass, moment of inertia of driving wheels and arm wheels for influence of the robot dynamic feature are considered, complex dynamic models of the robot to climb stairs are built. The relationships of driving wheel torque, arm wheel torque and its different speed, acceleration, staircases height, angle of the robot and the stairs are analyzed by simulations, maximum driving torques of driving wheel and arm wheel are obtained in the process of robot climbing stairs, a theoretical basis for articulated-tracked robot selecting the appropriate driving torque and motion control are provided.
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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 analytical expressions arrived are verified experimentally. Sixth, the drive power required for the direct drive robot is determined. Finally, based on weight, number of actuators, type of drive, type of wheels used, rolling resistance, and obstacle crossing ability an appropriate robot design is selected.
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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 wheels. The three Mecanum wheels are mounted on the robot round frame as a base of the moving platform. Mecanum wheels are independently powered using three units of precisian gear DC motors and the wheel/motor assemblies were mounted directly to the robot round frame. The slip occurs always by the rollers attached to conventional wheel's circumference. The force modeling and the innovative evaluating system for the precision and accuracy of the translation and rotation is focused on this research. By using a laser pointer with cross optical mark and a sheet of mm grid paper on the mobile robot, a fast and stable testing set up for the precision and accuracy of the translation and rotation is build. Through LOG method, and according certain testing process the precision and accuracy of the translation and rotation of a mobile robot can be fast evaluated and analyzed, respectively. The experiment result shows that the mobile robot moves sideways the distance from 0.25m to1.5m at the speed 1m/s fast, stable and easily to finish. The error of translation and rotation of the mobile robot can be fast determined respectively. And the performance of a mobile robot can be fast evaluated by every run at the stop localization immediately.
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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, as well as about its control.
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Dissertations / Theses on the topic "Wheel robot"

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LEJDEBY, ANGELICA, and KARL HERNEBRANT. "Omni wheel robot." Thesis, KTH, Maskinkonstruktion (Inst.), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-191520.

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This project is about building a three wheeled robot car with Omni wheels. Omni wheels can make a robot drive sideways without rotating first. They can make a robot rotate at the same time as it goes straight ahead. An Omni wheel robot can for example be good choice for a tracking robot, though it can drive more effective than a robot car with regular wheels. The thing that speaks against Omni wheels is that it has more friction and it takes more power to rotate the wheels. This robot car is an obstacles avoiding robot that should with help of Ultrasonic sensors and IR-sensors be able to drive around in a room without crashing in to objects or walls. With the help of Omni wheels the robot should drive without rotating much which makes it more effective than a robot car with regular wheels.
Det här projektet handlar om att bygga en trehjulig robotbil med Omnihjul. Omnihjul kan göra det möjligt för en robot att köra i sidled utan att först rotera. De kan också möjliggöra för en robot att rotera samtidigt som den kör rakt fram i en rak linje. En Omnihjulrobot kan till exempel vara ett bra val som spårningsrobot. För att den kan köra mer effektivt än en robotbil med vanliga hjul. Det som talar mot Omnihjul är att de har mer friktion och det krävs mer kraft för att rotera hjulen. Den här robotbilen är en hinderundvikande robot som med hjälp av Ultraljudssensorer och IR-sensorer ska kunna köra runt i ett rum utan att krasha in i objekt eller väggar. Med hjälp av Omnihjul ska roboten kunna köra utan att rotera mycket, vilket gör den mer effektiv än en robotbil med vanliga hjul.
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Gharib, Alireza. "FOUR SIMULTANEOUSLY STEERABLE WHEEL ROBOT." OpenSIUC, 2019. https://opensiuc.lib.siu.edu/theses/2500.

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Our whole purpose from this research is to come up with the best design of a robot which is capable of carrying the load and follow the most reliable and most efficient path in order to get to its destination. Previous research [1]is already done for a three and two wheel robot, however, we need a design which satisfies our specific requirement for higher reliability and ability to carry load in manufacturing environments or on different planets.
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Carvajal, Michael Angelo. "The design process for wheel-robot integration." Thesis, Massachusetts Institute of Technology, 2009. http://hdl.handle.net/1721.1/54528.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 65-66).
In this thesis, the design process for wheel-robot integration was documented and reflected on. The project focused on redesigned certain aspects a half-scale wheel-robot to be integrated with a half-scale CityCar prototype being built by the MIT Media Lab's Smart Cities Group. Primary attention was spent on analyzing the required steering torque need to maneuver the half-scale vehicle, and on implementing a design where the wheel-robots steered about the axis that passed through the center of gravity of the tire component. Budget and time constraints required quick and easy solutions to the design and integration of the wheel-robot components. A half-scale prototype made by Media Lab graduate student Peter Schmitt was used as a benchmark for the new wheel-robot design and an analysis of Schmitt's prototype is documented. Though many ideas and concept variations were explored during the design process, a complete design of the wheel-robot was not finalized in time for this report. More time must be spent in order to finalized an integration process that can be scaled up to the full-scale CityCar for future use in urban mobility improvement.
by Michael Angelo Carvajal.
S.B.
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Sjöstedt, Mikael, and Alexander Ramm. "Reaction wheel balanced robot : Design and sensor analysis of inverted pendulum robot." Thesis, KTH, Maskinkonstruktion (Inst.), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-184504.

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Some robots can do remarkable things. Balancing something unstable is one of them. This paper covers the design of such a robot and evaluates how the sensor is affected by its position and in turn the robot's ability to balance. A robot with a reaction wheel to maintain balance was built and the sensor data was investigated. From the result one could see that the sensor placement was of importance. The best placement was the one closest to the center of the cube, far away from the reaction wheel.
En del robotar kan utföra förbluffande manövrar. Att balansera något instabilt är en av dem. Den här rapporten täcker konstruktionen av en sådan robot och undersöker hur sensorn påverkas av sin position och i sin tur hur balansförmågan påverkas av sensorn. En robot som använde ett svänghjul som hjälp för att balansera byggdes och sensordatan undersöktes. Från resultatet visades att sensorplaceringen var viktig. Den bästa placeringen var den närmast robotens centrum.
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Smith, Lauren Melissa. "The Tri-Wheel: A Novel Robot Locomotion Concept Meeting the Need for Increased Speed and Climbing Capability." Case Western Reserve University School of Graduate Studies / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=case1417782329.

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Plantenberg, Detlef Holger. "Adaptive motion control for a four wheel steered mobile robot." Thesis, Nottingham Trent University, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.341262.

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For adaptive motion control of an autonomous vehicle, operating in a generally structured environment, position and velocity feedback are required to ascertain the vehicle location relative to a reference. Whilst the literature offers techniques for guiding vehicles along external references, autonomous vehicles should be able to navigate between despatch locations without the need to rely on external guidance systems. Considerations of the vehicle stability and manoeuvrability favour a vehicle design with four independently steered wheels. A new motion control methodology has been proposed which utilises the geometric relationship of the angular displacements and the rotations of the wheels to estimate the longitudinal and lateral motions of the vehicle. The motion controller consists of three building blocks: the motion control system comprising the position tracking and the motion command generation; the electronic system comprising a data acquisition system and proprietary power electronics; the mechanical system which includes an undercarriage enabling permanent contact of the wheels with the floor. The components have been designed not only to perform optimally in their specific functions but also to ensure full compatibility within the integrated system. For reliable deduction of the wheel rotations with a high degree of accuracy a dedicated data acquisition interface has been developed, which enables data to be captured in parallel from four optical encoders mounted directly on the wheel axles. Parallel sampling of the angular wheel position and parallel actuation of all steering motors improves the accuracy of the system state and gives a higher degree of certainty. Considering only circular motion of the vehicle, a method for calculating the steering angles and wheel speeds based on the complex notation is presented. By cumulating the displacement vectors of the vehicle motion and the location of the centre of rotation between consecutive samples of the controller, the path of the vehicle is estimated. The difference between the nominal and the deduced centre of rotation is determined to minimise deviations from the reference trajectory and to allow the controller to adapt to changes in the road/tyre interface characteristics. The individual mechanical and electronic components have been assembled and tested. Additionally, the performance of the electronic interface has been evaluated on a purpose built test-bed. For the experimental validation of the methodology, a simple method of mapping the centre of curvature with a pen mounted at the nominal centre of rotation has been proposed. Experiments have been conducted with both the steering angles fixed to their theoretical values for the nominal centre of rotation and with the proportional steering controller enabled. The results from the latter method have shown a significantly reduced deviation from the nominal centre of rotation. The data captured of the angular wheel positions and steering angle settings has been analysed off-line. Good agreement is obtained between the deduced and the actual centres of rotation for the measurements averaged over 1.5 seconds. A number of different centres of rotation have been investigated and the required steering angles to compensate for the deviation have been plotted to form a control surface for the motion controller. The deviation between the estimated and the actual centre of curvature was less than 1.6% and adequate results could be obtained with the proportional steering controller.
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Norin, Gustav. "Detecting External Forces on an Autonomous Lawnmowing Robot with Inertial, Wheel Speed and Wheel Motor Current Measurements." Thesis, Linköpings universitet, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-137434.

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An autonomous lawn mowing robot moves around randomly within an area enclosed by a magnetic wire and makes decision based on sensor information. To ensure human and animal safety it is essential that the robotic lawn mower can detect and stop if, for instance, it is being lifted by a human. This thesis takes a look at how on-board sensors could be used to detect a few critical events, here called fault cases. Data such as acceleration, angular velocity and motor currents are recorded and then used to develop three methods for detection briefly de-scribed below. The Odometry method uses constraints on valid movement of the robotic lawnmower and a fault case is detected if estimated velocity in global coordinates violates these constraints. The pitch angle relationship estimates the relation between electrical currents needed to drive the robotic lawn mower at a certain speed in certain pitch angle. When the electrical currents corresponding to a certain pitch angle according to the relation deviates from measured currents a fault case would be detected. The frequency method is based on the idea that disturbances on signals caused by uneven ground should decrease when the robotic lawn mower is lifted or held. The method would then detect this damping of disturbances by examining frequency content. The best method is the pitch angle relationship while the other two proposed methods have potential but would need higher sampling frequencies and additional signals to fully perform satisfactorily. With additional information such as position of the robotic lawn mower the estimation of the global velocities could be significantly improved which in turn would improve the odometry method and serve as a complement to the current pitch angle relation. The frequency methods would also be valid if the sampling frequencies were much higher, some-thing that might not be as cost efficient as needed to make the method profitable.
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Gandhi, Yogesh. "Motion planning and control for Differential Drive Wheel Mobile Robot (DDWMR)." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2017.

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This thesis proposes algorithms for motion planning to navigate robot in cluttered environment and a robust velocity-based tracking controller for Differential Drive Wheel Mobile Robot (DDWMR). First, the thesis presents, an offline A* path planning algorithm is used to find sequence of optimal waypoints in a two-dimensional occupancy grid also taking in account obstacle avoidance minimum distance criteria and using these waypoints, reference trajectory is generated based on the constraints on DDWMR. Second, the design of online non-linear back-stepping tracking controller for DDWMR, based on PSO algorithm in the selection of optimal controller gains.
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Wong, Christopher. "Posture reconfiguration and step climbing maneuvers for a wheel-legged robot." Thesis, McGill University, 2014. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=121349.

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Wheel-legged hybrid robots are known to be extremely capable in negotiating different types of terrain as they combine the efficiency of conventional wheeled platforms and the rough terrain capabilities of legged platforms. The Micro-Hydraulic Toolkit (MHT), developed by Defence Research and Development Canada at the Suffield Research Centre, is one such quadruped hybrid robot. Previously, a velocity-level closed loop inverse kinematics controller had been developed and tested in simulation on a detailed physics-based model of the MHT in LMS Virtual.Lab Motion (VLM). The controller was employed to generate a variety of posture reconfiguration and navigation maneuvers in simulation, such as achieving minimum or maximum chassis height at specific wheel separations, orienting the chassis to a desired pitch angle, or negotiating simulated rough terrain. In this thesis, the aforementioned inverse kinematics controller was improved upon, optimized and adapted to function on the physical MHT vehicle, located in Suffield, Canada. In addition, as a first step towards identifying the deficiencies of the VLM model and, ultimately, validating the model, actuator performance was measured for open loop step and ramp inputs and compared to the simulation results. With the controller implemented on MHT, a subset of the posture reconfiguration and navigation maneuvers previously performed in simulation were tested on the MHT and the robot performance was evaluated. Furthermore, a parametrized algorithm for statically stable step-climbing was developed and successfully verified on the MHT for different step heights.
Les robots à locomotion articulée sur roues ont la capacité de circuler sur différents types de terrain avec aise, puisqu'ils combinent l'efficacité énergétique des véhicules conventionnels munis de roues et la capacité de se déplacer sur une surface irrégulière des systèmes équipés de pattes. Le Micro-Hydraulic Toolkit (MHT) est un robot quadrupède développé par Recherche et développement pour la défense Canada au centre de recherches de Suffield qui se situe dans cette catégorie. Cette machine est dotée de quatre pattes articulées qui se terminent chacune par une roue. Précédemment, un mécanisme de contrôle cinématique inverse à boucle fermée a été développé et testé en simulation sur un modèle détaillé du MHT à l'aide du logiciel LMS Virtual.Lab Motion (VLM). L'objectif de ce contrôleur était de générer des commandes cinématiques aux joints du robot afin de reconfigurer la posture de celui-ci et d'effectuer des manœuvres de navigations. Dans cette thèse, le contrôleur cinématique inverse est adapté et optimisé pour fonctionner avec le robot MHT. Afin d'identifier les erreurs du modèle du robot sur VLM et de contribuer à la révision du modèle, des expériences ont été effectuées à boucles ouvertes sur les joints du robot en utilisant des commandes en échelon et en rampe. Les résultats de ces tests ont par la suite été comparés avec ceux obtenus en simulation. Puis, après que le contrôleur fut implémenté sur MHT, une séquence de reconfigurations de posture précédemment testée en simulation a été testée sur le robot, et la performance de celui-ci a été évaluée. Finalement, un algorithme paramétré visant à permettre à MHT de monter une marche a été développé et testé avec succès sur le robot avec différentes hauteurs de marches.
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Lochman, Vít. "Konstrukce jednokolového mobilního robotu se schopností skákání." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417721.

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The diploma thesis deals with the design of a single-wheel mobile robot, which is able to jump and collect samples weighing 2 Kg. The first part is devoted to the review of single-wheel robots. A brief analysis of single-wheel motion and a brief overview of jumping mechanism follow up. The second part describes problem analysis and five design variants. Using the multicriteria analysis, the variants were evaluated, and the optimal variant was chosen. The third partm is dedicated to the dynamic calculations and the mechanical design of the robot itself. The last part is devoted to economic evaluation and discussion with possible continuation in developing. The complete drawing documentation of the robot is included in this work.
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Books on the topic "Wheel robot"

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Control of single wheel robots. Berlin: Springer, 2006.

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Anthony, Young. Lunar and planetary rovers: The wheels of Apollo and the quest for Mars. New York ; Berlin: Springer, 2007.

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Hrynkiw, Dave. Junkbots, bugbots, and bots on wheels: Building simple robots with BEAM technology. New York: McGraw-Hill/Osborne, 2002.

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Schwartz, Steven A. The Big Book of Nintendo Games. Greensboro, USA: Compute Books, 1991.

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Robot, Take the Wheel: The Road to Autonomous Cars and the Lost Art of Driving. Apollo Publishers, 2019.

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Brychta, Alex, and Roderick Hunt. Box of Treasure; Chip's Robot; Flappy's Bone; Hook a Duck; One Wheel; the Sandcastle, Level 1. Oxford University Press, 2011.

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Cain, Christine. Rocket Robot on Wheels. Prima Games, 1999.

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Control of Single Wheel Robots. Berlin/Heidelberg: Springer-Verlag, 2005. http://dx.doi.org/10.1007/b136654.

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Xu, Yangsheng, and Yongsheng Ou. Control of Single Wheel Robots (Springer Tracts in Advanced Robotics). Springer, 2005.

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Hrynkiw, David, and Mark Tilden. JunkBots, Bugbots, and Bots on Wheels: Building Simple Robots With BEAM Technology. McGraw-Hill Osborne Media, 2002.

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Book chapters on the topic "Wheel robot"

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Burman, Vibha, and Ravinder Kumar. "Wheel Robot Review." In Innovations in Cyber Physical Systems, 781–91. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-4149-7_72.

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Chang, Ching-Lung, and Kang-Hao Liou. "Reinforcement Learning-Based Two-Wheel Robot Control." In Recent Advances in Intelligent Information Hiding and Multimedia Signal Processing, 324–31. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-030-03748-2_40.

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Besseron, G., Ch Grand, F. Ben Amar, F. Plumet, and Ph Bidaud. "Stability Control of an Hybrid Wheel-Legged Robot." In Climbing and Walking Robots, 533–40. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_64.

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Besseron, G., Ch Grand, F. Ben Amar, F. Plumet, and Ph Bidaud. "Locomotion Modes of an Hybrid Wheel-Legged Robot." In Climbing and Walking Robots, 825–33. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/3-540-29461-9_80.

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Brunhorn, Jochen, Oliver Tenchio, and Raúl Rojas. "A Novel Omnidirectional Wheel Based on Reuleaux-Triangles." In RoboCup 2006: Robot Soccer World Cup X, 516–22. Berlin, Heidelberg: Springer Berlin Heidelberg, 2007. http://dx.doi.org/10.1007/978-3-540-74024-7_53.

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Iagnemma, K., and S. Dubowsky. "Vehicle Wheel-Ground Contact Angle Estimation: With Application to Mobile Robot Traction Control." In Advances in Robot Kinematics, 137–46. Dordrecht: Springer Netherlands, 2000. http://dx.doi.org/10.1007/978-94-011-4120-8_15.

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Wang, Xuezhu, Xiangtao Zhuan, Guilin Zheng, and Zheng Chen. "Motion Dynamics Modelling of an Electric Wheel Robot." In Intelligent Robotics and Applications, 159–70. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-16584-9_15.

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Alias, Nor Akmal, and Herdawatie Abdul Kadir. "Control Strategy for Differential Drive Wheel Mobile Robot." In Lecture Notes in Electrical Engineering, 271–83. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-5281-6_19.

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Gronowicz, A., P. Sperzyński, J. Szrek, and J. Jakubiak. "Wheel-Legged Robot – Construction and Obstacle Detection Sensors." In New Advances in Mechanisms, Transmissions and Applications, 191–98. Dordrecht: Springer Netherlands, 2014. http://dx.doi.org/10.1007/978-94-007-7485-8_24.

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Bałchanowski, J. "Mobile Wheel-Legged Robot: Researching of Suspension Leveling System." In Advances in Mechanisms Design, 3–12. Dordrecht: Springer Netherlands, 2012. http://dx.doi.org/10.1007/978-94-007-5125-5_1.

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Conference papers on the topic "Wheel robot"

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Marzban, Mostapha, and Aria Alasty. "Stability Control of an Amphibious Single Wheel Robot." In ASME 2007 International Mechanical Engineering Congress and Exposition. ASMEDC, 2007. http://dx.doi.org/10.1115/imece2007-44020.

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Single wheel robots are typically those kinds of robots which contain all the necessary mechanizations, namely the stabilization and driving mechanizations, within a shell-liked housing appearing analogous to a wheel. These robots have proved to be useful in various fields of industry due to their advantages of giving high instant acceleration and maintaining high cruise speeds for considerable amount of time in addition to being compact and small. It is a sharp-edged wheel actuated by a spinning flywheel for steering and a drive motor for propulsion. The spinning flywheel acts as a gyroscope to stabilize the robot and it can be tilted to achieve steering. In this paper first the kinematics of a single wheel robot, like Gyrover, in water is considered and then a simple mechanism for its movement in water is proposed. After hydrodynamic analysis of the robot a complete dynamics model is designed with Lagrange energy method. Then a stabilizer controller is designed to balance the robot with nonlinear control approach. For simplicity the added mass effect in hydrodynamic analysis, has been neglected. This complete model can be used for examining the behavior of the robot in designing a controller.
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Rachkov, Michael, Alexey Emelyanov, and Vitaliy Kolot. "Reconfigurable Autonomous Wheel-Tracked Robot." In 2019 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM). IEEE, 2019. http://dx.doi.org/10.1109/icieam.2019.8742987.

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ALISEYCHIK, A., I. ORLOV, E. STEPANOVA, and VLADIMIR PAVLOVSKY. "WHEEL-WALKING PNEUMATICALLY ACTUATED ROBOT." In 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. WORLD SCIENTIFIC, 2014. http://dx.doi.org/10.1142/9789814623353_0019.

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Kim, Yoo-Seok, Gwang-Pil Jung, Haan Kim, Kyu-Jin Cho, and Chong-Nam Chu. "Wheel transformer: A miniaturized terrain adaptive robot with passively transformed wheels." In 2013 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2013. http://dx.doi.org/10.1109/icra.2013.6631385.

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Laney, Doug, and Dennis Hong. "Three-Dimensional Kinematic Analysis of the Actuated Spoke Wheel Robot." In ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2006. http://dx.doi.org/10.1115/detc2006-99751.

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A current problem for mobile robots in unstructured environments is their lack of general mobility. Wheeled, treaded, and legged robots each have their advantages and disadvantages, but they all lack the flexibility to be able to cope with a wide range of terrain. The actuated spoke wheel system was presented in an earlier work as an alternative locomotive method that allows unique mobility capabilities to cope with various situations. This paper presents the three-dimensional kinematic analysis of the actuated spoke wheel system with no slip and no bounce constraints at the ground contacts for a robot using a two actuated spoke wheel configuration. The first analysis will cover the case when the axle is coplanar with the line connecting the contact points, called the pivot line, and show results from two examples, corresponding to steady state turning and, in the special case, straight-line walking. The second case will describe the configuration when the pivot line is skew with the axle, comparing the robot in this configuration to an SPPS spatial mechanism. This comparison will lead to the recommendation of a more general model, based on the SPPS mechanism, that will be used to analyze the motion in both configurations.
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Popesku, Sergej, Eugen Meister, Florian Schlachter, and Paul Levi. "Active wheel - An autonomous modular robot." In 2013 6th International Conference on Robotics, Automation and Mechatronics (RAM). IEEE, 2013. http://dx.doi.org/10.1109/ram.2013.6758566.

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Moskowitz, Samuel E. "Robot Wheel Slippage During Obstacle Collision." In Third ASCE Specialty Conference on Robotics for Challenging Environments. Reston, VA: American Society of Civil Engineers, 1998. http://dx.doi.org/10.1061/40337(205)31.

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Beloiu, Robert. "Virtual Commissioning of Wheel Robot Processing." In 2021 12th International Symposium on Advanced Topics in Electrical Engineering (ATEE). IEEE, 2021. http://dx.doi.org/10.1109/atee52255.2021.9425077.

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Kadam, S. N., and B. Seth. "LQR controller of one wheel robot stabilized by reaction wheel principle." In 2011 2nd International Conference on Instrumentation Control and Automation (ICA). IEEE, 2011. http://dx.doi.org/10.1109/ica.2011.6130176.

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WU, YUE, XIAO TENG, CHEE-MENG CHEW, and KIM PONG TAN. "OPTIMIZATION OF ‘WHEEL-PARALLEL-IN-WHEEL’ FOR A COMPACT CLIMBING ROBOT." In CLAWAR 2017: 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. WORLD SCIENTIFIC, 2017. http://dx.doi.org/10.1142/9789813231047_0016.

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Reports on the topic "Wheel robot"

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Christie, Benjamin, Osama Ennasr, and Garry Glaspell. Autonomous navigation and mapping in a simulated environment. Engineer Research and Development Center (U.S.), September 2021. http://dx.doi.org/10.21079/11681/42006.

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Unknown Environment Exploration (UEE) with an Unmanned Ground Vehicle (UGV) is extremely challenging. This report investigates a frontier exploration approach, in simulation, that leverages Simultaneous Localization And Mapping (SLAM) to efficiently explore unknown areas by finding navigable routes. The solution utilizes a diverse sensor payload that includes wheel encoders, three-dimensional (3-D) LIDAR, and Red, Green, Blue and Depth (RGBD) cameras. The main goal of this effort is to leverage frontier-based exploration with a UGV to produce a 3-D map (up to 10 cm resolution). The solution provided leverages the Robot Operating System (ROS).
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Reister, D. B., and F. G. Pin. Time optimal trajectories for mobile robots with two independently driven wheels. Office of Scientific and Technical Information (OSTI), March 1992. http://dx.doi.org/10.2172/5541105.

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Reister, D. B., and F. G. Pin. Time optimal trajectories for mobile robots with two independently driven wheels. Office of Scientific and Technical Information (OSTI), March 1992. http://dx.doi.org/10.2172/10131013.

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