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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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Brooks, Douglas Antwonne. "Control of reconfigurability and navigation of a wheel-legged robot based on active vision." Thesis, Atlanta, Ga. : Georgia Institute of Technology, 2008. http://hdl.handle.net/1853/26545.
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Thesis (M. S.)--Electrical and Computer Engineering, Georgia Institute of Technology, 2009.Committee Chair: Howard, Ayanna; Committee Member: Egerstedt, Magnus; Committee Member: Vela, Patricio. Part of the SMARTech Electronic Thesis and Dissertation Collection.
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Refvem, Charles T. "Design, Modeling and Control of a Two-wheel Balancing Robot Driven by BLDC Motors." DigitalCommons@CalPoly, 2019. https://digitalcommons.calpoly.edu/theses/2110.
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The focus of this document is on the design, modeling, and control of a self-balancing two wheel robot, hereafter referred to as the balance bot, driven by independent brushless DC (BLDC) motors. The balance bot frame is composed of stacked layers allowing a lightweight, modular, and rigid mechanical design. The robot is actuated by a pair of brushless DC motors equipped with Hall effect sensors and encoders allowing determination of the angle and angular velocity of each wheel. Absolute orientation measurement is accomplished using a full 9-axis IMU consisting of a 3-axis gyroscope, a 3-axis accelerometer, and a 3-axis magnetometer.
The control algorithm is designed to minimize deviations from a set point specified by an external radio remote control, which allows the remote operator to steer and drive the bot wirelessly while it remains balanced. Multiple dynamic models are proposed in this analysis, and the selected model is used to develop a linear-quadratic regulator based state-feedback controller to perform reference tracking. Controller tracking performance is improved by incorporating a prefilter stage between the setpoint command from the remote control and the state-feedback controller.
Modeling of the actuator dynamics is considered brie y and is discussed in relation to the control algorithm used to balance the robot. Electrical and software design implementations are also presented with a focus on effective implementation of the proposed control algorithms.
Simulated and physical testing results show that the proposed balance bot and controller design are not only feasible but effective as a means of achieving robust performance under dynamic tracking profiles provided by the remote control.
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Passmore, Catherine M. "3D Printed Mini-Whegs Robot Design and Vibration Analysis." Case Western Reserve University School of Graduate Studies / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=case1485542260153464.
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Havlíček, Vojtěch. "Řízení 4 kolového robotu programovatelným automatem." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2013. http://www.nusl.cz/ntk/nusl-230886.
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The aim of this diploma thesis is to implement the PLC control on existing four wheeled mobile robot from the laboratory A1/731a. For this solution has to be designed and made electronic equipment which will be gathering and processing the data from sensors. This data will be sent to the PLC which will be controlling the robot according to this data. The final solution will be practically demonstrated.
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Miranda, La Hera Pedro Xavier. "Contributions to Motion Planning and Orbital Stabilization : Case studies: Furuta Pendulum swing up, Inertia Wheel oscillations and Biped Robot walking." Licentiate thesis, Umeå : Umepå universitet, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-1874.
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Moreno, Blanc Javier. "Improvement of the implementation of an Assistant Personal Robot." Doctoral thesis, Universitat de Lleida, 2017. http://hdl.handle.net/10803/457621.
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Aquesta memòria presenta la investigació realitzada amb l'objectiu de millorar la implementació d'un Assistent Personal Robòtic (APR) basat en un robot mòbil per aplicacions en entorns domèstics. Aquesta implementació de noves tecnologies robòtiques ha permès el desenvolupament de noves aplicacions d'assistència personal contribuin a millorar la qualitat de vida de les persones.
La primera part de la memòria es centra en el desenvolupament mecànic, consistent en un sistema de mobilitat holonómic basat en l'ús de tres rodes omnidireccionals desfasades 120º.
Per l´objectiu de la millora sobre la ubicació del robot mòbil en el pla XY s'ha realitzat l'estudi i caracterització d'un sensor de baix cost basat en l'aplicació de l'efecte Doppler.
Tambe s'han explorat les possibilitats d'utilitzar una Tablet amb Google Android com a dispositiu de telecontrol, reunin en un únic dispositiu diversos sensors i elements d'interacció.
L'últim apartat de la memòria es centra en l'estudi d'una solució que permeti al robot desplaçarse per les habitacions d’una casa u oficina incorporan un accessori mecànic que li permeti obrir portes convencionals.Esta memoria presenta la investigación realizada con el objetivo de mejorar la implementación de un Asistente Personal Robótico (APR) basado en un robot móvil para aplicaciones en entornos domésticos. Esta implementación de tecnologías robóticas permite el desarrollo de nuevas aplicaciones de asistencia personal, contribuyendo a mejorar la calidad de vida de las personas. La primera parte de la investigación se centra en el desarrollo mecánico, presentando un sistema de movilidad holonómico basado en el uso de tres ruedas omnidireccionales desfasadas 120º. La mejorara de la ubicación del robot móvil en el plano XY se ha realizado a través del estudio y caracterización de un sensor de bajo coste, basado en la aplicación del efecto Doppler. También se han explorado las posibilidades de utilizar una Tablet con Google Android como sistema de control, reuniendo en un único dispositivo varios sensores y elementos de interacción. El último apartado de la memoria estudia el problema de la movilidad del robot por distintas habitaciones, incorporado al diseño básico un accesorio mecánico que le permite abrir puertas convencionales.
This memory presents the research carried out with the objective of improving the implementation of an Assistant Personal Robot (APR) based on a mobile robot for applications in domestic environments. This implementation allows the development of new assistance devices, which can be applied to significantly improve the quality of life of people. The first part of the research focuses on the mechanical development, which describes the holonomic mobility system based on the use of three omnidirectional wheels, shifted 120°. To the improvement of the location of the mobile robot in the XY plane, this research has been performed by means of the study and characterization of a low cost optical sensor based on the application of the Doppler Effect. One of the most characteristic elements of a care robot is its control unit. The research performed has explored the possibilities of a Tablet with Google Android as a control system, bringing together in a single body several sensors and interaction elements. The last section of the memory has been focused on the study of the problem of moving the mobile robot through closed rooms of the house, to this end, a mechanical accessory has been incorporated in order to mechanically open a conventional door.
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Kreinar, Edward J. "Filter-Based Slip Detection for a Complete-Coverage Robot." Case Western Reserve University School of Graduate Studies / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1367256203.
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Kimmel, Shawn Christopher. "Considerations for and Implementations of Deliberative and Reactive Motion Planning Strategies for the Novel Actuated Rimless Spoke Wheel Robot IMPASS for the Two-Dimensional Sagittal Plane." Thesis, Virginia Tech, 2008. http://hdl.handle.net/10919/32324.
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IMPASS is a novel spoke-wheel robot invented by researchers at the Robotics and Mechanisms Lab (RoMeLa) at Virginia Tech. The robot is driven by a rimless spoke wheel which can alter the length of any given spoke in the hub. This form of novel locomotion combines the efficiency of a wheeled robot and the mobility of a legged robot, arriving at a very practical mobility platform. A highly mobile robot such as IMPASS could prove very valuable in applications where the terrain is complex and dangerous, such as search and rescue, reconnaissance, or anti-terror response. A prototype has been constructed that effectively demonstrates the actuated spoke wheel concept using two wheels containing six spokes each.
Manually controlling the motion of two wheels and twelve spokes would be a daunting task for any operator. Due to this inherent complexity, automated motion control is a necessity for the IMPASS platform. The work presented here will discuss two different approaches to the motion planning problem for the two-dimensional sagittal plane. The first approach is deliberative in nature and depends on fairly accurate terrain sensing. The motion planning first decides on a set of contact points based on obstacle configurations and a Lagrangian interpolation of the terrain. A lower level motion planning component then executes the movements that guide the spoke ends to the contact points. The second motion planning approach is reactive in nature. Proprioceptive and tactile sensors are used to determine the robot's pose and immediate surroundings. These sensors directly affect the motion profile of the robot. The reactive approach follows much simpler logic, which theoretically will make it more robust.
Motion planning strategies were tested in simulation and on the IMPASS prototype. Both strategies proved to be well suited for different applications. The deliberative control was very successful in a structured environment, whereas the reactive control was able to cross a wider variety of terrain. The results from the testing also provided some insight into variables introduced by the hardware. Future improvements to the motion planning control include accounting for these variables in the hardware and eventually developing three-dimensional motion planning algorithms based on the lessons learned from the two-dimension case.Master of Science
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Bouton, Arthur. "Conception et commande d'une structure de locomotion compliante pour le franchissement d'obstacle." Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066264.
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La recherche d’une locomotion performante sur des terrains accidentés constitue encore à l’heure actuelle un défi pour les systèmes robotisés de toutes sortes s’y attelant. Les robots hybrides de type “roues-pattes”, qui tentent d’allier l’efficacité énergétique des roues à l’agilité des pattes, en sont un exemple aux capacités potentiellement très prometteuses. Malheureusement, le contrôle de telles structures s’avère rapidement problématique du fait des redondances cinématiques, mais aussi et surtout de la difficulté que pose la connaissance exacte de la géométrie du sol à mesure que le robot avance. Cette thèse propose alors une réponse à la complexité des systèmes roulants reconfigurables par une approche synergique entre compliance et actionnement. Pour cela, nous proposons d’exploiter une décomposition idéalement orthogonale entre les différentes formes de compliances qui réalisent la suspension du robot. Ainsi, l’actionnement au sein de la structure est ici dédié à un contrôle des efforts verticaux s’exerçant sur les roues, tandis que les déplacements horizontaux de ces dernières sont le fait d’une raideur passive combinée à une modulation locale des vitesses d’entraînement. La posture du robot est maîtrisée via l’asservissement des forces verticales fournies par un actionnement de type série-élastique. Ceci permet de garantir une adaptation spontanée de la hauteur des roues tout en conservant l’ascendant sur la distribution de la charge. La faisabilité d’un tel système de locomotion est validée à travers un prototype reposant sur quatre “roues-pattes” compliantes. Celui-ci, entièrement conçu dans le cadre de cette étude, approche la décomposition fonctionnelle proposée tout en répondant aux contraintes de réalisation et de robustesse. Tirant parti de la décomposition fonctionnelle proposée pour la structure, deux procédés de commande sont présentés afin de réaliser le franchissement des obstacles : le premier vise à exploiter l’inertie du châssis pour réaliser une modification locale des forces verticales appliquées aux roues, tandis que le second est basé sur la sélection d’un mode de répartition des efforts adaptés à la poursuite d’une évolution quasi-statique en toutes circonstances. Pour cette dernière commande, deux méthodes de synthèse sont abordées : l’une via un algorithme d’apprentissage de type “Q-learning” et l’autre par détermination de règles expertes paramétrées. Ces commandes, validées par des simulations dynamiques dans des situations variées, se basent exclusivement sur des données proprioceptives accessibles immédiatement par la mesure des variables articulaires de la structure. De cette manière, le robot réagit directement au contact des obstacles, sans avoir besoin de connaître à l’avance la géométrie du solPerforming an efficient locomotion on rough terrains is still a challenge for robotic systems of all kinds. “Wheel-on-leg” robots that try to combine energy efficiency of wheels with leg agility are an example with potentially very promising capabilities. Unfortunately, control of such structures turns out to be problematic because of the kinematic redundanciesand, above all, the difficulty of precisely evaluating the ground geometry as the robot advances. This thesis proposes a solution to the complexity of reconfigurable rolling systems by a synergic approach between compliance and actuation.To this purpose, we propose to exploit an ideally orthogonal decomposition between the different movements enabled by the robot suspension due to compliant elements. Then, the structure actuation is here dedicated to controlling the vertical forces applied on wheels, while the horizontal wheel displacements are due to a passive stiffness combined with a local modulation of wheel speed. The robot posture is controlled through the vertical forces servoing provided by a series elastic actuation. This ensures a spontaneous adaptation of wheel heights while keeping the control on load distribution. The feasibility of such a locomotion system is validated through a prototype based on four compliant “wheel-legs”. Entirely conceived as part of this study, this one approximates the proposed functional decomposition while meeting the realization and robustness constraints. We also present two control methods that take advantage of the functional decompositionproposed for the structure in order to cross obstacles. The first one aims to exploit the chassis inertia in order to perform a local modification of the vertical forces applied on wheels, while the second one is based on the selection of proper ways of distributing forces in order to be able to pursue a quasi-static advance in all circumstances. Two approaches are given for the production of the last control : either with a “Q-learning” algorithm or by determining parameterized expert rules. Validated by dynamic simulations in various situations, these controls rely only on proprioceptive data immediately provided by the measurement of articular variables. This way, the robot directly reacts when it touches obstacles, without having to know the ground geometry in advance
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GIDLÖF, TIM, and CARL GRUNEAU. "Balancing Cube." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279818.
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In todays society there are microprocessors in almost every new item that is produced for home use. They are all being connected and smart, and by that microcontrollers are playing an increasingly important role in peoples private life. In this thesis in mechatronics a controller will be implemented on an Arduino to make it possible for a cube to balance in upright position. The cube is in theory an inverted pendulum with one degree of freedom, and is intended to balance using an inertia wheel at the top of the structure. A PID regulator was used, and at the time this report was written, the right parameter values for the PID was not found. The cube is able to shift its position back and forth over the setpoint with support on each side to prevent it from falling. A bit more tuning is required to make it balance on its ownI dagens samhälle är det microprocessorer i nästan alla nya produkter som skapas för den privata marknaden. De är alla sammankopplade och smarta. I och med det spelar mikrokontrollers en allt större roll i människors dagliga liv. I den här rapporten inom mekatronik implementeras en regulator i en arduino för att balansera en kub stående på en kant. I teorin är en kub en inverterad pendel med en frihetsgrad och är tänkt att balansera med hjälp av ett reaktionshjul monterat överst på prototypen. En PID regulator användes och då denna rapporten skrevs hade rätt parametrar inte påträffats. Kuben klarar av att ändra position fram och tillbaka över referensläget då den blockeras från att ramla. För att den ska klara av att balansera av sig själv behöver regulatorn ställas in bättre.
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Zatloukal, Jiří. "Senzorika a řízení pohonů 4 kolového mobilního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2013. http://www.nusl.cz/ntk/nusl-230890.
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The diploma thesis is dealing with the proposal and realization of the sensor and drive system of the four wheel mobile robot. The control unit is a miniature computer Raspberry Pi. The robot will be employed in the future for the environment mapping and location. For this purpose robot exploits the different types of sensors. The information of these sensors is being processed by the Xmega microcontroller. Another microcontroller together with H-bridge DRV-8432 is used to control the direct current drives.
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Taghizadeh, Mohammad. "Robot with Three Independently Steerable Wheels." Thesis, California State University, Long Beach, 2018. http://pqdtopen.proquest.com/#viewpdf?dispub=10784154.
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Technology in robotics has improved significantly in recent years. While the majority of research has focused on improving existing methods, it is advantageous to challenge these established methodologies and develop new solutions. This new research centers on a novel method of robot movement design. The proposed model concentrates on a robot containing three steerable wheels, allowing the mobile robot to reach the desired orientation and coordinates with minimal movement. This goal is accomplished by simultaneously moving and rotating the robot while moving in a straight path, unlike the movement provided by standard wheeled vehicles. This method provides greater control of performance and more power of movement on various surfaces, compared to using Omni wheels, which contains the design with the greatest similarity to this proposed method. While this new method may result in added complexity due to the goal-based flexible constraints in speed, wheel rotation, and overall movement, this complication may be mitigated by using appropriate software and hardware.
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Olša, Petr. "Návrh řízení všesměrového mobilního robotu O3-X." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2010. http://www.nusl.cz/ntk/nusl-229210.
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This thesis deals with the design of a three-wheeled omni-directional robot control. The model of control is designed for robot´s omni-directional platform driven by maxon motor with the intelligent positioning controller EPOS. The design of control contains: - installation of the coordinated systems and transformation from one of them into another - design of system´s kinematical model - creation of classes for control and communication with EPOS - creation of the simulative program - planning of the mobile robot´s path - verification that the system is working The solution was based on continuous accelerated motion and the maximal acceleration of wheels was concerned, so that the slip would be suppressed. The function of the model was partly verified.
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Du, Wenqian. "Motion generation of four-limb robots using whole-body torque control." Thesis, Sorbonne université, 2020. http://www.theses.fr/2020SORUS067.
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Cette thèse présente la génération de mouvements de deux robots quadrupèdes : la génération du mode roulement d’un robot quadrupède sur roues, et la génération du mode trot d’un robot quadrupède avec mécanisme en parallélogramme. Ces deux générateurs de mouvement sont développés en utilisant des modèles de dynamiques généralisées et de dynamiques centroidales. Nous introduisons le concept de contrôleur en impédances priorisées et nous proposons un nouveau modèle de dynamiques qui incorpore une hiérarchie de contrôle multitâche. Nous l’intégrons dans le nouveau modèle dynamique pour améliorer quatre différents cadres de travail pour le contrôle hiérarchisé. Puis, nous proposons deux générateurs de mouvements pour le mode roulement de TowrISIR. Le mouvement des roues est extrait selon les mouvements des pattes et de la base. Le premier générateur de mouvement des roues est développé en combinant le modèle cinématique et le modèle dynamique et de moments centroidaux. Le deuxième générateur de mouvements est plus général et permet de franchir des terrains accidentés avec différences d’altitude. Un générateur de mouvements corps complets est développé en combinant un modèle de mouvements centré sur roues et un modèle proposé de contrôle d’altitude. Enfin, nous proposons un nouveau principe de locomotion à pattes pour notre robot quadrupède, QuadISIR, qui peut générer les mouvements des pattes automatiquement en utilisant les propriétés centroidales, sans nécessiter l’approximation de pattes sans masse. La position des pattes suit le mouvement de la base sans interférer avec les contraintes de contact. Le balancement des pattes compense le délai généré par les pattes de postureThe thesis presents the whole-body motion generation of two four-limb robots, including the rolling-mode generation of a quadruped-on-wheel robot, TowrISIR, and the trotting-mode generation of a quadruped robot with parallelogram mechanisms, QuadISIR. Both the wheeled and legged motion generators are developed by using the generalized dynamics and centroidal dynamics models, and they are verified by our improved proposed torque controllers. We propose the concept called prioritized impedance controller, and we propose one new dynamics model to embody multi-task control hierarchy. We integrate it into the new dynamics model to improve four kinds of hierarchical operational-space torque control frameworks. Then, we propose two rolling-mode motion generators of TowrISIR. By given legged-suspension motion, the wheel motion is extracted out depending on base and legged motions, then the first wheel motion generator is developed by combining the kinematics model and centroidal momentum/dynamics model. The second whole-body motion generator is more general which enables the robot to cross rough terrains with much-altitude difference. Then the whole-body motion generator is developed by combining further the wheel-center motion model and a proposed altitude control model. Finally, we propose a new legged locomotion principle for one quadruped robot, QuadISIR, which can generate legged motion automatically using the centroidal properties without massless-leg assumption. The virtual joint between the base and each-leg CoM is used. The stance legs follow the base motion without conflicting the contact constraints. The swing legs compensate the delay influences by the stance legs
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Hedvall, Axel, and Filip Rydén. "Omnidirectional Robot." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296257.
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Robots are being used more and more in today’s society. These robots need to be mobile and have a good understanding of their surroundings. This bachelor’s thesis in mechatronics aims to see how a mobile robot can be constructed, and how it can best map its surroundings. The robot was built to have three omni wheels to allow it to move freely in the plane and stepper motors to provide accurate movement. Ultrasonic sensors were placed around the robot to be used as a tool to determine its surroundings. The brain of the robot was an Arduino UNO, which with the help of an ESP-01, communicated with aserver over Wi-Fi. The server received the data from the ultrasonic senors and drew a map on a web page. Multiple test were made to evaluate the different systems. The robot moved really well and with high precision after some tweaking. The ultrasonic sensors were also very precise and the communication between the robot and the server worked very well. All the different systems were combined to make the robot move autonomously. The robot could navigate by itself and avoid obstacles. Although the mapping worked from a technical point of view, it was hard to read and could be done better.Robotar är något som används mer och mer i dagens moderna samhälle. Dessa robotar behöver vara mobila och haen god uppfattning om miljön de befinner sig i. Detta kandidatexamensarbete inom mekatronik ska undersöka hur en mobil robot kan byggas, och hur den kan kartlägga miljönden befinner sig i. Roboten som konstruerades hade tre omnihjul för att kunna röra sig fritt längs markplanet och stegmotorer för precis drift. Ultraljudsensorer placerades runt om roboten för att ge den en uppfattning av omgivningen. Hjärnan i roboten var en Arduino UNO som med hjälp av en ESP-01 kommunicerade över Wi-Fi till en server. Servern tog emotsensordata från roboten och ritade upp det som en karta ien webbläsare. Det utfördes tester för att utvärdera de olika delsystemen. Driften på roboten fungerade utmärkt med god precisionefter några iterationer. Ultraljudsensorerna hade också godprecision och kommunikationen mellan roboten och servern fungerade mycket bra. De olika delsystemen kombinerades för att ge roboten självkörning. Roboten kunde navigera själv och undvika hinder. Trots att kartan fungeradeur ett tekniskt perspektiv så var den svårtydd och kunde förbättrats.
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García, Estébanez Jesús. "GPS-IMU Integration for a Snake Robot with Active Wheels." Thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2009. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-9107.
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A snake robot will be defined herein as any multilink robot for whose shape and motion capabilities are reminiscent of a snake like PiKo [1]. PiKo is a five links snake robot with active wheels designed by SINTEF in collaboration with the Norwegian University of Science and Technology (NTNU). Researchers have been greatly interested in the development of robots like PiKo because of its shape versatility and motion capacity in difficult terrains. These skills and properties are useful for rescue teams working in earthquakes, pipe inspection operations and other utilities where access and movement in the terrain are typically difficult. When a working team decides to develop a snake robot, an important point to consider is the development of an efficient navigation system that reaches an accurate position of the robot. Technically speaking, it is prudent to design at the same time a state observer that gives us at least the real time position and velocity information of the robot body to be controlled. The relevance of this information is derived from every control action applied to the robot will require some information about the situation of the robot over time. The controller will need feedback about the robot dynamics and the effect that the control actions have caused. Typically this information has three sources: the information that comes from external sensors, that from internal sensors that transmitting to the control place the measurements from the sensors in the robot body and estimated data from a physical model. All of these feedback sources have some advantages and disadvantages. Implementing an external observer, with external sensors, will not cause space problem with sensors location in the robot body, but when the robot is working inside a pipe, underground or in another hard environment where the optical, magnetic or radio frequency contact is difficult or impossible, the information reception from an external observer is too difficult and expensive or simply impossible. Locating internal sensors in the body of the robot may solve has the problem with the measurements reception, but still pose some difficulties which must be considered by the designer. Many times space becomes a problem when locating some sensors inside the robot body due to size and weight constraints within the robot body. Basing the navigation system instead on a physical model that simulates the robot motion invites the possibility of error due to simplifications taken during the mathematical and physical development. It is impossible to develop a perfect physical model since all the variables, forces, and parameters that depend on the nature characteristics usually are random process and we can just raise a useful factor estimating the average of these effects in our concrete situation. In this thesis a navigation system with a GPS (Global Positioning System) and IMU (Inertial Measurement Unit) fusion was achieved. This navigation system will be work as long the GPS signal is available. The application of the fusion technique further reduces one order the potential errors inherent in using only the GPS navigation system. When the robot will encounter locations where the GPS signal is impossible, this thesis will present a set of tools that not being a universal solution, it will be a set of mathematical tools that depending on the case could give us an accurate navigation system. During the time the GPS signal reception is impossible, this thesis presents the development and implementation of a physical model for a snake robot with active wheels which simulates the snake robot running behavior and studies the possibility to use the trajectory estimated by the model for reaching an accurate navigation system.
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Arrizabalaga, Aguirregomezcorta Jon. "MPC based Caster Wheel Aware Motion Planning for Differential Drive Robots." Thesis, KTH, Mekatronik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-281702.
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The inherited rotation in a caster wheel allows movement in any direction, but pays at the expense of reaction torques. When implemented in a mobile robot, these forces have a negative impact in its performance. One approach is to restrict rotations on the spot by attaching a filter to the output of the motion planner. However, this formulation compromises the navigation’s completion in critical scenarios, such as parking, taking curves in narrow corridors or navigating at the presence of a high density of obstacles. Therefore, in this thesis we consider the influence of caster wheels in the motion planning stage, commonly presented as local planning. This work proposes a Model Predictive Control (MPC) based local planner that integrates the caster wheel physics into the motion planning stage. A caster wheel aware term is combined with a reference tracking based navigation, which leads to the formulation of the Caster Wheel Aware Local Planner (CWAWLP). Since this method requires knowing the caster wheel’s state and there is no sensor that provides this information, a caster wheel state observer is also formulated. In order to evaluate the impact of the caster wheel aware term, CWAWLP is compared to a Caster Wheel based Agnostic Local Planner (CWAGLP) and a Caster Wheel based Agnostic Planner Local Planner with Path Filter (CWPFLP). After running simulations for three case studies in a virtual framework, two experimental case studies are conducted in an intra-logistics robot. These are evaluated according to the navigation’s quality, motor torque usage and energy consumption. According to the patterns observed in the evaluation, CWAWLP covers a longer distance than CWAGLP wihout decreasing the navigation’s quality. At the same time, its motor torques are similar to the ones of CWPFLP. Therefore, CWAWLP is capable of considering caster wheel physics without sacrificing navigation capabilities. The formulated caster wheel aware term is compatible with any MPC based navigation algorithm and inherits the derivation of an observer capable of estimating caster wheel rotation angles and rolling speeds. Even if the caster wheel awareness has been implemented in a differential driven robot, this approach is also applicable to vehicles with an alternative drivetrain, such as car-like robots.Den ärvda rotationen i ett hjul möjliggör rörelse i vilken riktning som helst, men fås på bekostnad av reaktionsmoment. När de implementeras i en mobil robot har dessa krafter en negativ inverkan på dess prestanda. Ett tillvägagångssätt är att begränsa rotationer på plats genom att applicera ett filter på rörelseplannerns utgång. Denna formulering komprometterar dock navigeringens slutförande i kritiska scenarier, såsom parkering, kurvor i smala korridorer eller navigering i närheten av höga hinder. Därför beaktar vi i denna avhandling påverkan av hjul på hjulplaneringen, som ofta presenteras som lokal planering. Detta arbete föreslår en Model Predictive Control (MPC) -baserad lokal planerare som integrerar svängbara länkhjuls fysik i rörelseplaneringsstadiet. En kugghjulmedveten term kombineras med en referensspårningsbaserad navigering, vilket leder till formuleringen av Caster Wheel Aware Local Planner (CWAWLP). Eftersom denna metod kräver kunskap om svängbara länkhjuls tillstånd och det inte finns någon sensor som ger denna information, formuleras också en hjulhjulstillståndsobservatör. För att utvärdera effekten av det medvetna begreppet svängbara änkhjul jämförs CWAWLP med en Caster Wheel-baserad Agnostic Local Planner (CWAGLP) och en Caster Wheel-baserad Agnostic Planner Local Planner with Path Filter (CWPFLP). Efter att ha kört simuleringar för tre fallstudier i ett virtuellt ramverk genomförs två experimentella fallstudier i en intra-logistikrobot. Dessa utvärderas enligt navigeringens kvalitet, vridmomentanvändning och energiförbrukning. Enligt de mönster som observerats i utvärderingen når CWAWLP ett längre avstånd än CWAGLP utan att sänka navigeringens kvalitet. Samtidigt liknar motorns vridmoment dem som CWPFLP. Därför kan CWAWLP ta hänsyn till svängbara länkhjuls fysik utan att offra navigationsfunktionerna. Den formulerade medhjulningsmedveten termen är kompatibel med vilken MPC-baserad navigationsalgoritm som helst och ärver härledningen av en observatör som kan uppskatta hjulets rotationsvinklar och rullningshastigheter. Även om hjulhjälpmedvetenheten har implementerats i en differentierad robot, är detta tillvägagångssätt också tillämpligt på fordon med ett alternativt drivsystem, såsom billiknande robotar.
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Seegmiller, Neal A. "Dynamic Model Formulation and Calibration for Wheeled Mobile Robots." Research Showcase @ CMU, 2014. http://repository.cmu.edu/dissertations/460.
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Advances in hardware design have made wheeled mobile robots (WMRs) exceptionally mobile. To fully exploit this mobility, WMR planning, control, and estimation systems require motion models that are fast and accurate. Much of the published theory on WMR modeling is limited to 2D or kinematics, but 3D dynamic (or force-driven) models are required when traversing challenging terrain, executing aggressive maneuvers, and manipulating heavy payloads. This thesis advances the state of the art in both the formulation and calibration of WMR models We present novel WMR model formulations that are high-fidelity, general, modular, and fast. We provide a general method to derive 3D velocity kinematics for any WMR joint configuration. Using this method, we obtain constraints on wheel ground contact point velocities for our differential algebraic equation (DAE)-based models. Our “stabilized DAE” kinematics formulation enables constrained, drift free motion prediction on rough terrain. We also enhance the kinematics to predict nonzero wheel slip in a principled way based on gravitational, inertial, and dissipative forces. Unlike ordinary differential equation (ODE)-based dynamic models which can be very stiff, our constrained dynamics formulation permits large integration steps without compromising stability. Some alternatives like Open Dynamics Engine also use constraints, but can only approximate Coulomb friction at contacts. In contrast, we can enforce realistic, nonlinear models of wheel-terrain interaction (e.g. empirical models for pneumatic tires, terramechanics-based models) using a novel force-balance optimization technique. Simulation tests show our kinematic and dynamic models to be more functional, stable, and efficient than common alternatives. Simulations run 1K-10K faster than real time on an ordinary PC, even while predicting articulated motion on rough terrain and enforcing realistic wheel-terrain interaction models. In addition, we present a novel Integrated Prediction Error Minimization (IPEM) method to calibrate model parameters that is general, convenient, online, and evaluative. Ordinarily system dynamics are calibrated by minimizing the error of instantaneous output predictions. IPEM instead forms predictions by integrating the system dynamics over an interval; benefits include reduced sensing requirements, better observability, and accuracy over a longer horizon. In addition to calibrating out systematic errors, we simultaneously calibrate a model of stochastic error propagation to quantify the uncertainty of motion predictions. Experimental results on multiple platforms and terrain types show that parameter estimates converge quickly during online calibration, and uncertainty is well characterized. Under normal conditions, our enhanced kinematic model can predict nonzero wheel slip as accurately as a full dynamic model for a fraction of the computation cost. Finally, odometry is greatly improved when using IPEM vs. manual calibration, and when using 3D vs. 2D kinematics. To facilitate their use, we have released open source MATLAB and C++ libraries implementing the model formulation and calibration methods in this thesis.
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Nechev, Vasko k. "Speedy Whegs: Steering and Stability Analysis of High-Speed, Compliant, Wheel-Leg Robots." Case Western Reserve University School of Graduate Studies / OhioLINK, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=case1623971868277511.
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WEN, CHAO-YUAN, and 溫兆源. "Control of single spherical wheel robot driven by omni wheels." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/02545169972589006627.
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碩士中華大學
電機工程學系碩士班
99
This thesis mainly discusses the control of a spherical robot using Omni wheels to drive a spherical wheel. The dynamical model is derived from Euler Lagrange approach. Therefore, seven different control methods are presented which can achieve a constant speed at a vertical balance altitude. The proposed control methods can be categorized into two algorithms. The first algorithm is the variable structure system control (VSSC) in which the time needed to enter the sliding surface or to reach the stable point can be adjusted by parameters. The second one is the nonlinear feedback, but its smoothing input is different from the switching input of variable structure system control (VSSC). The constant speed of the spherical robot with vertical balance altitude can be achieved by both algorithms and be verified by simulations.
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Tsai, Chiao-Lun, and 蔡僑倫. "DSP-based balance and two-wheel synchronous control for two-wheel robot." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/25993947953563620441.
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碩士國立中央大學
電機工程研究所
92
Two-wheel robot system is a self-balance two-wheel robot car, we can control it self-balance, going forward and backward, making a turn and fixed position. DSP F2812 is the control center of the two-wheel-robot system, which includes fuzzy control algorithm, motor servo control, A/D converter, analog filter, digital filter, and wireless transmission module etc. In the system, the sensors tilt and gyro are used to measure inclination angle and angle velocity of the robot. Analog low-pass filter and digital filter process the above two signals to be usable. We use encoder to measure velocity and angle velocity of the motors of robot. Then the robot’s motions self-balance, going forward and backward, and making a turn are controlled by the designed fuzzy control algorithm in DSP. All control signals are transmitted via wireless transmission module.
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Su, Wen-Pong, and 蘇文鵬. "Research on Panorama System of Wheel Robot." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/06093268031331809057.
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碩士桃園創新技術學院
機械工程系機械與機電工程碩士班
103
Owing to labor shortages, robots could entirely replace labor in the future. The computer vision of developing robotics ismore important.In order to avoid robot hit obstacle in blind area during motion. Then this paper discusspanorama system of wheel robot. The system put forward a new correction graph.This graph was based on circle. In the offline correction, the system make use of geometric correction, overlapping area correction and synthesize the surroundingbird-view images to correct six wide angle lenses. The offline process could set up a look up table of space mapping.In on-line processing, we could search look-up in bilinear interpolation. Then we take overlapping area formula to compensate uneven brightness. Finally, the system can built a panorama image rapid in six wide angle camera capturing. Then the system can used in identification of machine vision system application.
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WANG, YEN-HSIANG, and 王彥翔. "Cascade sliding mode control of a spherical wheel robot driven by Omni wheels." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/44545874372348657697.
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碩士中華大學
電機工程學系碩士班
100
The target of the thesis is a spherical robot using Omni wheels to drive a spherical wheel, and its position control based on the cascade sliding model control (CSMC) has been studied. The dynamical model of the spherical robot is derived based on the Euler Lagrange approach. The structure of the CSMC is cascade combination of states of this dynamic model and a series of sliding surfaces. The state or time periodic switching imposed on the combination of the sliding surface coefficient to ensure the convergence of the model states. Because the cascade sliding model control is easy to result in a constant speed of spherical wheel, a periodic cascade sliding model control (PCSMC) has been proposed to solve the undesired constant speed problem. The effect of the periodic duration is the smoothness of trajectory. Too long periodic duration will result in an unstable situation when difficult initial condition encounters. Therefore, the designated body angle (DBA) is added to enhance the system stability. The body angle can converge faster when the body angle larger than the DBA, and the body angle becomes upright only when it reaches the desired position.
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Chen, Shen-Chiang, and 陳慎強. "Locomotion Development on the Leg-wheel Hybrid Robot." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/67175056353141496291.
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碩士國立臺灣大學
機械工程學研究所
99
This paper continues the previous research of leg-wheel hybrid robot, Quattroped. We improve and modify the mechanical and electrical defects of the robot and carry on the design of the platform to develop different move locomotion. The wheel mode is constructed to let the robot move on flat ground efficiently. And The algorithm of trajectory planning and four leg coordination for quasi-static stair climbing in a quadruped robot is also reported. The development is based on the geometrical interactions by using the half-wheel legs of robot to overcome the rough terrains including step and bar crossing, irregular terrain passing, and stair climbing and to reveal the robot in legged mode has better mobility than wheel mode to cross obstacles or rough terrain. Finally, a basic feedback control on leg mode by simple sensor is also presented in this paper. Using simple information and low cost in order to achieve automation and intelligence capacity and to increase the success rate of experiments and practical value.
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Wang, Pei-Lin, and 王培霖. "DSP based motion control for two-wheel robot." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/20796403789946308633.
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碩士國立中央大學
電機工程研究所
92
Two-wheel robot system is a self-balance two-wheel robot car, we can control it self-balance, going forward and backward, making a turn and fixed position. DSP F2812 is the control center of the two-wheel-robot system, which includes fuzzy control algorithm, motor servo control, A/D converter, analog filter, digital filter, and wireless modem etc. In the system, the sensors tilt and gyro are used to measure inclination angle and angle velocity of the robot. Analog low-pass filter and digital filter process the above two signals to be usable. We use encoder to measure velocity and angle velocity of the motors of robot. Then the robot’s motions self-balance, going forward and backward, and making a turn are controlled by the designed fuzzy control algorithm in DSP. All control signals are transmitted via wireless modem.
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Chen, Ming-Chang, and 陳銘昌. "A Design of Two-Wheel Balancing Matrix Robot." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/24264181783283174968.
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碩士國立雲林科技大學
電子工程系
103
In this study, two two-wheel balancing robots are built. The first robot, based on a rigorous mathematical model from the literature, is built with LEGO Mindstorms EV3 and Matrix Robotics and their accessories. The software for driving the robot is written with LabView. EV3 reads data from the encoders of the EV3 motors and a gyro, computes the motor speeds and the tilting angle of the robot, adjusts these parameters with gains, and then uses a PID method to control the speed of the motors to achieve a balancing position for the robot. The second robot is built with a FPGA development board called DE0-nano with a NIOS II/f soft core, two NXT light sensors, and two Matrix motors and accessories. The balance goal of the robot is to minimize the fluctuation of the difference of the readings of the two light sensors. The motors are controlled with PWM signals from NIOS II with a PID mechanism. While both robots can balance their positions well, the performances of their motors are compared.
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Hsien, Hsiang-Shen, and 謝祥生. "Development of Service-oriented Robot using Mecanum Wheel." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/04760765219149204759.
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碩士正修科技大學
機電工程研究所
102
Nowadays, robotics-related industries are developed gradually and government pays more attention to it. Until now, the gross annual value of robotics is nearly fifty billion which verify robotics-related products with full potential development. Also, intelligent service robotic will become a trend in the near future. The annul Taiwan international robot show has many popular robotic products and people can understand which help that robot can do by interaction on the show. However, many intelligent service robotics has limitation to moving on confined space. Therefore, how to make robot moving smoothly that loaded motion platform is key factor. Most of the current intelligent service robotic is used normal wheels which need stop on the spot and adjust the position to change direction. However, mecanum wheels can move in any direction continuing. This study is aim to explore the application of intelligent service robotic combined with mecanum wheels to improve moving constraint.
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Chen, Jian-yuan, and 陳建元. "Wheel- and Wheelcover-Based AdaBoost Wheel Detection and Its Android Vehicle Patrolling Robot Implementation." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/59293187482918989334.
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碩士國立雲林科技大學
資訊工程系碩士班
100
"Autonomous mobile vehicle patrolling robot" featuring patrolling mobility and real-time automation can carry out the vehicle investigation and license plate recognition anywhere, anytime, without manpower support. However, vehicle’s shape and feature under various perspective and illumination conditions are nonuniform, a vehicle detection and patrolling system invariant to complex scenes is studied and proposed. In order to simplify this issue, the vehicle detection stage of the proposed vehicle detection and patrolling system is divided into 4 aspects: 1)Front/rear vehicle detection, 2) lateral vehicle detection, 3) license plate detection subsequent to front/rear vehicle detection , and 4) wheel detection subsequent to lateral vehicle detection. Specifically on wheel detection issue, a wheel- and wheelcover-based AdaBoost wheel detection is proposed for high true positive rate and low false positive rate. Moreover, this thesis integrates the proposed wheel detection method with plate- and character-based Adaboost license plate detection, Tesseract-OCR-based license plate character recognition, and robotic automation for implementation of Android vehicle patrolling robot. From experimental result, the detection rate of the proposed wheel detection under complex scenes can achieve 99%.
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Su-MingHsiao and 蕭書銘. "Localization and Control Applications of a Four-Wheel Steering and Four-Wheel Drive Mobile Robot." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/55456944973112209543.
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Hsu, Che-wei, and 許哲瑋. "The multi-function wheel robot with a robotic arm." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/12409073754207604726.
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碩士國立中央大學
電機工程研究所
100
The purpose of this study aims to accomplish a mobile robot which can take the elevator automatically by using its robotic arm and avoid the obstacle in an unknown environment. In the function of obstacle avoidance, the robot moves by two parallel wheels which are driven by servo motors. We use the sonar and infrared ray sensors integrated with FPGA to collect environmental information such that the robot can move forward with avoiding the obstacles and maintaining the safe distance in the unknown environment, even in the narrow path. In the function of elevator taking automatically, the robotic arm can press the target panel by interactively using forward kinematics and inverse kinematics. Furthermore, this robotic arm can also implement some interactive motions such as shaking hands and greeting. After a series of experiments, the results show that the robot works effectively.
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WEN, CHI-YU, and 温啓佑. "The Obstacle Avoidance Application of Two-Wheel Balancing Robot." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/pvt9kx.
Full textAbstract:
碩士國立高雄海洋科技大學
電訊工程研究所
106
This thesis proposes is to design a two-wheeled balancing robot control system, the system has ultrasonic obstacle avoidance function.User can issue commands and receive robot data through Bluetooth. Base on LOGO Mindstorms EV3, combine with EV3 gyro sensor, EV3 motors, ultrasonic sensor to establish the two-wheeled balancing robot. Used leJOS to write program such as balance, communication, control and avoidance. The system use a PID method to control the motors to achieve a balancing robot. After robot is well balanced, user may control robot moving using Bluetooth. Robot can avoid detected obstacle while moving, robot can transmit the distance between obstacle, motor output power and gyro angular velocity to user through bluetooth at the same time.
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"Dynamics and control of a single wheel, gyroscopically stabilized robot." 1999. http://library.cuhk.edu.hk/record=b5889874.
Full textAbstract:
by Kwok-wai Au.Thesis (M.Phil.)--Chinese University of Hong Kong, 1999.
Includes bibliographical references (leaves 55-58).
Abstracts in English and Chinese.
Abstract --- p.i
Acknowledgments --- p.iii
Contents --- p.iv
List of Figures --- p.vi
List of Tables --- p.viii
Chapter 1 --- Introduction --- p.1
Chapter 1.1 --- Motivation --- p.1
Chapter 1.2 --- Previous work --- p.5
Chapter 1.3 --- Thesis overview --- p.7
Chapter 2 --- Dynamics of the Single Wheel Robot --- p.10
Chapter 2.1 --- Dynamic model of a rolling disk --- p.10
Chapter 2.1.1 --- Kinematic constraints --- p.11
Chapter 2.1.2 --- Equations of motion --- p.13
Chapter 2.1.3 --- Characteristics of the rolling disk --- p.15
Chapter 2.2 --- Dynamic model of the single wheel robot --- p.18
Chapter 2.2.1 --- Coordinate frames and generalized coordinates --- p.19
Chapter 2.2.2 --- Equations of motion --- p.21
Chapter 2.2.3 --- Model simplification --- p.24
Chapter 2.3 --- Dynamic properties of the single wheel robot --- p.27
Chapter 3 --- Stabilization of the Single Wheel Robot --- p.30
Chapter 3.1 --- Linearized model --- p.30
Chapter 3.2 --- Controllability and non-minimum phase characteristics --- p.33
Chapter 3.3 --- Linear state feedback --- p.33
Chapter 3.4 --- Simulation Study --- p.35
Chapter 4 --- Path Following of the Single Wheel Robot --- p.37
Chapter 4.1 --- Path following for nonholonomic systems --- p.37
Chapter 4.2 --- Definition of path following --- p.39
Chapter 4.3 --- New configuration --- p.39
Chapter 4.4 --- Line following --- p.41
Chapter 4.4.1 --- Velocity control law --- p.42
Chapter 4.4.2 --- Convergence for the velocity control law --- p.43
Chapter 4.4.3 --- Torque control law --- p.45
Chapter 4.5 --- Simulation study --- p.47
Chapter 4.5.1 --- Effect of the initial heading angle --- p.47
Chapter 4.5.2 --- Effect of the rolling speed --- p.49
Chapter 4.5.3 --- Follow a desired line --- p.50
Chapter 4.5.4 --- Effect of the smoothness parameter --- p.50
Chapter 5 --- Conclusion --- p.52
Chapter 5.1 --- Contributions --- p.52
Chapter 5.2 --- Future work --- p.53
Bibliography --- p.55
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"Single wheel robot: gyroscopical stabilization on ground and on incline." 2000. http://library.cuhk.edu.hk/record=b5890272.
Full textAbstract:
by Loi-Wah Sun.Thesis (M.Phil.)--Chinese University of Hong Kong, 2000.
Includes bibliographical references (leaves 77-81).
Abstracts in English and Chinese.
Abstract --- p.i
Acknowledgments --- p.iii
Contents --- p.v
List of Figures --- p.vii
List of Tables --- p.viii
Chapter 1 --- Introduction --- p.1
Chapter 1.1 --- Motivation --- p.1
Chapter 1.1.1 --- Literature review --- p.2
Chapter 1.1.2 --- Gyroscopic precession --- p.5
Chapter 1.2 --- Thesis overview --- p.7
Chapter 2 --- Dynamics of the robot on ground --- p.9
Chapter 2.1 --- System model re-derivation --- p.10
Chapter 2.1.1 --- Linearized model --- p.15
Chapter 2.2 --- A state feedback control --- p.16
Chapter 2.3 --- Dynamic characteristics of the system --- p.18
Chapter 2.4 --- Simulation study --- p.19
Chapter 2.4.1 --- The self-stabilizing dynamics effect of the single wheel robot --- p.21
Chapter 2.4.2 --- The Tilting effect of flywheel on the robot --- p.23
Chapter 2.5 --- Dynamic parameters analysis --- p.25
Chapter 2.5.1 --- Swinging pendulum --- p.25
Chapter 2.5.2 --- Analysis of radius ratios --- p.27
Chapter 2.5.3 --- Analysis of mass ratios --- p.30
Chapter 3 --- Dynamics of the robot on incline --- p.33
Chapter 3.1 --- Modeling of rolling disk on incline --- p.33
Chapter 3.1.1 --- Disk rolls up on an inclined plane --- p.37
Chapter 3.2 --- Modeling of single wheel robot on incline --- p.39
Chapter 3.2.1 --- Kinematic constraints --- p.40
Chapter 3.2.2 --- Equations of motion --- p.41
Chapter 3.2.3 --- Model simplification --- p.43
Chapter 3.2.4 --- Linearized model --- p.46
Chapter 4 --- Control of the robot on incline --- p.47
Chapter 4.1 --- A state feedback control --- p.47
Chapter 4.1.1 --- Simulation study --- p.49
Chapter 4.2 --- Backstepping-based control --- p.51
Chapter 4.2.1 --- Simulation study --- p.53
Chapter 4.2.2 --- The effect of the spinning rate of flywheel --- p.56
Chapter 4.2.3 --- Simulation study --- p.58
Chapter 4.2.4 --- Roll up case --- p.58
Chapter 4.2.5 --- Roll down case --- p.58
Chapter 5 --- Motion planning --- p.61
Chapter 5.1 --- Performance index --- p.61
Chapter 5.2 --- Condition of rolling up --- p.62
Chapter 5.3 --- Motion planning of rolling Up --- p.65
Chapter 5.3.1 --- Method I : Orientation change --- p.65
Chapter 5.3.2 --- Method II : Change the initial velocities --- p.69
Chapter 5.4 --- Wheel rolls Down --- p.70
Chapter 5.4.1 --- Terminal velocity of rolling body down --- p.73
Chapter 6 --- Summary --- p.75
Chapter 6.1 --- Contributions --- p.75
Chapter 6.2 --- Future Works --- p.76
Bibliography --- p.78
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Lin, Shu-Wei, and 林書緯. "The Design and Analysis of In-Wheel Motor Vehicle Robot." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/30140379914820773038.
Full textAbstract:
碩士明新科技大學
精密機電工程研究所
99
This study is to develop robot vehicles, and modify the robot’s mobility and cross-country performance. The whole frame was design-based on track and wheel-multi-skill-driven. To achieve the robot vehicles moves stability and cushioning, and also combined with track cantilever mechanism to promote the robot cross-country performance it will offer widespread use in task design. Duo to the general vehicles only can drive in common road or gentle slope, and the applications were restricted in many scope. This study will develop design a suite of auxiliary cantilever mechanism with highly adaptability. The purpose of this study is to structure analysis in context use to enable the development vehicles can pass through bumpy road and increase the robot vehicles’ mobility, thus expanding the investigation range. The vehicles’ weight of police use cannot heavy, so the vehicles will use aluminum alloy material to achieve light weight and high mobility. The vehicle which is install with track in land deck vehicle apply will huge expand. Those will have market potential and the technology will hope mass production in the future. Robot vehicles will be immediately applied to military defense, blasting processing, chemical and biological attacks as well as building attack; or even can use in heavy electric machinery industries, the factory building with high-temperature, high pressure, gas leaks, high radiation, and high-voltage which environment is not fit human body. In accordance to environment needs, to develop robot vehicles to serve human being is the objective goal of this proposal.
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Chen, Jun-Rong, and 陳家榮. "Improvement in DSP based motion control for two-wheel robot." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/36353594356002409648.
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碩士國立中央大學
電機工程研究所
93
We develop and control a two-wheel robot which the core DSP F2812 integrates a lot of parts including motor servo control, external circuit signals, wireless transmission module, analog filter, digital filter, and fuzzy control algorithm. The dynamic sensors tilt and gyro are used to control the balance of the robot and the sensor digital compass is used to correct the directional error of the body and then getting the position and velocity by the feedback of the encoder. Through the integration of the information, we implement the designed fuzzy controllers to make the robot balance, move forward and backward, turn, and stop. In the period of running, getting the status of the robot and issuing the commands are transmitted via wireless transmission module.
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Lin, Szu-Yu, and 林思妤. "Stabilization of Acquired Environmental Information for the Claw Wheel Robot." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/9z5vpz.
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碩士國立臺灣大學
生物產業機電工程學研究所
106
This research develops a computer-vision based video stabilization system aided by IMU (Inertial Measurement Unit) for a stair-climbing maneuvering “Claw-Wheel” robot for search and rescue purposes in dangerous or disaster sites. The Claw-Wheel Robot is designed for search purposes in various scenarios, for instance, dangerous buildings, disaster sites, wilderness. It features the “folding transformation mechanism”, which enables it to transform between its two motion modes intended for different scenarios. The “wheel mode” is designed for rapidly moving across flat land, while on the other hand the “claw mode” enables the robot to climb and ascend rough terrains or stairs. Moreover, the Claw-Wheel Robot is also simple in structure and has less amount of actuators. The Claw-Wheel Robot has two major functionalities. The first is the dynamic mobility which enables the robot to enter disaster or dangerous sites. Throughout these several years, our research team has fully developed the dynamic mobility functionality which makes the robot capable of maneuvering across various types of natural and artificial terrains, including flat ground, rugged terrain, stairs, amphibious environments and so on. After reaching these sites, the robot system relies on the second functionality to capture and retrieve image information by a video device, in order to aid humans during remote robot operation and control. However, due to the uncertainty of both the terrain and the geometric configuration of the climbing claws, the raw image information captured by a video device requires stabilization, apparently. Therefore, we combined state estimation and video stabilization techniques to provide stable information. This research develops a real-time video stabilization system featuring robot pose estimation and feature tracking techniques. The video stabilization framework can be divided into two stages. The first stage is to recover the predictable perspective deviation between frames by sensor feedback. The second processing stage is for the arbitrary shaking and unpredictable effects. During this stage we promote the stabilization process by tracking “feature points” in the captured image sequence over time. The first stage of video stabilization is achieved by predicting the pose of the camera, which is installed on the center of the robot. The algorithm involves sensor feedback provided by IMU (Inertial measurement unit) and motor encoders, along with robot geometric configuration, claw pose angle functions, motion characteristics and the Kalman filter algorithm. With these algorithms we can approximate the camera’s position and orientation, therefore compensate the perspective variation. The unpredictable, arbitrary motion is handled in the second stage of the process. We capture “feature points” and track them over consequential frames. After calculating the motion, or in other words, position deviation, for corresponding points in consequential frames, we apply the RANSAC algorithm to obtain the accurate “motion field” of the image content. Finally, we apply an output “cropping window” which is moved along the motion field. Inside this cropping window, which eventually turns out to be the output video, the relative positions of the feature points and frame contents are kept constant, in order to reduce shaking and stabilize the video sequence. In this research we have successfully constructed the real-time video stabilization framework and system for the Claw-Wheel robot, and we also promoted the on-board mechatronics system by installing a video device, IMU and motor control modules in order to meet mission requirements. Under several experimental scenarios, the real-time video stabilization system can reduce the shaking motion significantly. Moreover, this system could also be adapted to similar mobile platforms with proper motion sensor feedback and video devices.
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HSU, HAO-CHUAN, and 許皓筌. "Weighted Ultrasonic Signal Based Four-Wheel Human-Following Mobile Robot." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/n2yqfz.
Full textAbstract:
碩士國立暨南國際大學
電機工程學系
107
This thesis proposes a method to make the mobile robot judge the orientation of signal sources, thereby achieving human-following. The mobile robot uses ultrasonic sensors to receive the signal and judge the orientation of the signal sources according to the weight of the sensor. After knowing the direction, the CPU will process the relative position between the signal source and obstacles around the mobile robot, so that the mobile robot can effectively avoid obstacles while following. To this end, this study requires ultrasonic sensors to judge the orientation of person, and infrared sensors to detect the location of obstacles. Finally, the experimental results prove that the mobile robot can accurately judge the orientation of the signal source in a real environment, and realize human-following under the premise of avoiding obstacles. This system can be applied in many fields in the future, such as handling goods and long-term care services.
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SH, CHENG-JUN, and 施承鈞. "Implement of Indoor Positioning System for Omni-directional Wheel Robot." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/42cuyx.
Full textAbstract:
碩士國立高雄科技大學
輪機工程系
107
The development of positioning technology has been applied to general life from cellphone, car, and ship which are all application of global positioning system (GPS). The position error of GPS is about 2~3 meters and longitude/latitude are measured by several GPS satellite signal. But no stable signal can be received in interior space. Some wireless communication technology can be achieved in this positioning of interior space. Hence the implementation of indoor positioning function is proposed by radio frequency ZigBee communication protocol in this thesis. In this thesis, the security and controllability can be enhanced by using the application for the indoor positioning of omni-directional wheel robot. The used omni-directional wheel robot can provide a positioning system mechanism with safety, stability, easy operation. The machinery design, sensor system design, and route programming design are all included in omni-directional wheel robot. The omni-directional wheel can be designed to do arbitrary direction. Forward and backward of motor can be controlled by bridge circuit. The purpose of speed control and turn will be finished by PWM driving method. The system control and ultrasonic distance measuring are achieved by Arduino control card. The function of mechanical and electrical integration have been completed by wireless transfer module and ZigBee communication protocol. The genetic algorithm with selection, crossover, and mutation functions can be applied to filter the extreme of RSSI and achieve the effect of data optimization. The output value of RSSI is stable by the proposed omni-directional wheel patrol robot with the function of remote and autonomy programming route. The security mechanism and staff requirement for the unmanned factory can be improved.
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CHUNG, YI-HSIN, and 鍾奕信. "Applications of Remote Image Monitoring for Omni-directional Wheel Robot." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/51331476419388794786.
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Yang, Chun-Lin, and 楊淳麟. "DESIGN OF AN 8-WHEEL ROBOT FOR EXTERNAL PIPELINE INSPECTION." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/57048670234151908722.
Full textAbstract:
碩士大同大學
機械工程學系(所)
98
This paper demonstrates a robot system which applies on external pipeline inspection. The whole system is consisted of three portions which are mechanism, control system and internet communication system. We develop an 8-wheel lift mechanism, with this mechanism the robot has the ability to adapt outdoor terrain. Control system divide as mobile robot and control station. In order to provide the feeling to the operator like driving the mobile robot in the place where the robot is, the control station applies an image joystick system to track the head motion of the operator. In light varied environment, the image joystick system still can operate correctly even when the RGB eigen value of the target is changing. Though the image joystick system, the camera on the mobile robot can follow the head motion of the operator. And with a joystick, the control system sends out the command of direction to the moving and lift mechanism portion of the mobile robot. The internet communication system can communicate the control system and mobile robot. The whole system can quickly establish if the user has suitable mechanism (robot system, moving system etc.) and webcam in the environment which has wireless internet signal.