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Journal articles on the topic 'Wheel robot'
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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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Zhao, Jianwei, Yuanshuang Liu, Yuanyuan Qu, Feng Bian, and Yu Ban. "Model and simulation of four-wheeled robot based on Mecanum wheel." International Journal of Modeling, Simulation, and Scientific Computing 08, no. 02 (October 24, 2016): 1750015. http://dx.doi.org/10.1142/s1793962317500155.
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Based on Mecanum wheels and “[Formula: see text]”-shaped planetary wheels, we combine these two kinds of wheels’ respective motion principle with their advantages to design a new type of four-wheeled robot: install the Mecanum wheels at the end of “[Formula: see text]”-shaped planetary wheel group. The wheel designed based on Mecanum wheels and “[Formula: see text]”-shaped planetary wheel can adapt to the complex terrain such as stairs, steps, and at the same time it can achieve the rotation of the whole body in a limited space. This paper studies the adaptability of the four-wheeled robot to the stairs, analyzing and calculating the parameters of the four-wheeled robot and the stairs.
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Li, Shuo Hui, and Xiang Song. "Multi-Legged Robot that Can be Assembled by Two-Wheeled Self-Balance Robots." Applied Mechanics and Materials 615 (August 2014): 122–29. http://dx.doi.org/10.4028/www.scientific.net/amm.615.122.
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In this paper, a multi-legged robot that can be assembled by self-balance robots that have two multi-degree-of-freedom limbs with wheel installed on the end of each limb is proposed. This type of robot has a more efficient way to travel all kinds of territory: not like normal muti-legged robots which has to use legs to move on flat surface like a roads, this type of robot can move like vehicle using wheels on the end of its legs; and not like two wheels self-balance vehicles which cannot travel on rocky surface, this type of robot can use multi-degree-of-freedom limbs to walk on complex surface. And by separate to several single robots, this type of robot can move through some narrow territory. And by combined as a multi-legged robot, this type of robot can transport much heavier payload than a single self-balance robot.
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Sadeghi, A., H. Moradi, and M. Nili Ahmadabadi. "Analysis, simulation, and implementation of a human-inspired pole climbing robot." Robotica 30, no. 2 (June 15, 2011): 279–87. http://dx.doi.org/10.1017/s0263574711000579.
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SUMMARYIn this paper, we present the design, static analysis, simulation, and implementation of a novel design for a naturally stable climbing robot that has been inspired from human pole/tree climbers. The other benefits of this robot, besides being naturally stable, are its simple design, ease of control, light weight, simple mechanism, and fast climbing speed. The robot consists of three wheels, two free and one active wheel, which enable the robot to climb or descend poles. The free wheels are almost frictionless, while the active wheel has enough friction to be able to apply force on the pole for stable climbing or descending. The wheels are designed in V-shape such that the robot can compensate for misplacements eliminating possible detachment from poles. Although the robot can operate with a single free wheel, however, an extra free wheel is added to increase the stability and safety of the robot. In this paper, the static analysis of the robot is presented and the robot is simulated. Furthermore, the robot is actually implemented and successfully tested in two sizes, a small size and a big/full size. The full-scale prototype has been equipped with washing and inspection tools and tested washing actual street lights. The results show the unique characteristics of this robot that make it more stable if more weight is carried.
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Kumar, B. Phanindra, Shiva Kumar, and Md Rafeeq V. Sai Kumar T. Navaneetha. "Two Wheel Controlled Spy Robot." International Journal of Trend in Scientific Research and Development Volume-3, Issue-3 (April 30, 2019): 1363–69. http://dx.doi.org/10.31142/ijtsrd23359.
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Okada, Tokuji, Abeer Mahmoud, Wagner Tanaka Botelho, and Toshimi Shimizu. "Trajectory estimation of a skid-steering mobile robot propelled by independently driven wheels." Robotica 30, no. 1 (May 6, 2011): 123–32. http://dx.doi.org/10.1017/s026357471100035x.
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SUMMARYThis paper analyses a mobile robot with independently rotating wheels travelling on uneven but smooth ground, including ascending or descending surfaces. We formulate a mathematical expression for the energy cost of the robot's movement. For our analysis, we utilise the principle of virtual work and assume that the robot moves with a fixed arrangement of wheel axes and without using a steering handle. The mathematical model reveals that the coefficient of friction and the payload distribution dominate the wheel behaviour, including slipping and skidding. We minimise the virtual work expression to determine the robot's motion complying with driven wheels. The model also enables us to estimate trajectories for different ground conditions. A hybrid robot, PEOPLER-II, is used to demonstrate the predicted motions, including turns and spins, by following angular velocity control rules. Experimental data verifies that the proposed formulation and minimisation of virtual work are valid techniques for predicting a robot's trajectory. The method described is widely applicable to wheeled robots having independently driven wheels.
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Jiang, Sheng Yuan, Xu Dong Jiang, Xue Wen Zhang, and Jian Yong Li. "Design and Research on the Mechanical Adaptive In-Pipe Robot Drive Unit." Applied Mechanics and Materials 16-19 (October 2009): 965–70. http://dx.doi.org/10.4028/www.scientific.net/amm.16-19.965.
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A novel differential in-pipe robot, called mechanical adaptive in-pipe robot is presented. The drive unit of the robot consists of driving module characterized by tri-axis differential velocity mechanism, and elastic leg-wheeled in-pipe adaptability module characterized by fully active drive. The drive module, as a result of its automatically modulating every moving wheel rotation speed according to topological constraint by in-pipe, avoids parasite power as a result of moving wheel slippage. The elastic leg-wheeled in-pipe adaptability module is adjustable to inner diameter variation by its radial protraction and shrinkage, and its fully active structure ensures enough tractive force even if several moving wheels impended. Therefore the mechanical adaptive in-pipe robot provides a novel insight to differential-typed in-pipe robots with the mechanical adaptive performance, and is supplementary with its novel configuration and transmission principle.
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Wyrwał, Daniel, and Tymoteusz Lindner. "Control algorithm for holonomic robot that balances on single spherical wheel." MATEC Web of Conferences 252 (2019): 02005. http://dx.doi.org/10.1051/matecconf/201925202005.
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This paper presents the control algorithm for the new type of robot that balances on a single spherical wheel. This type of robot is called Ballbot and unlike other statically stable robots, it has a high gravity centre and a very small footprint. The robot is dynamically stable, which means that if the controller stops working, the entire construction will fall over. Because of that, it needs a special control algorithm to keep the balance. The presented Ballbot is fitted with sensors such as gyroscope and accelerometer and controls motors with omni-directional wheels to move the robot in any direction. This paper presents theoretical information about balancing robots and the most important elements of the robot. Next, the design concept of the controller based on STM32 family, control algorithms and filters were proposed and implemented. In the final section of this paper, the investigation results were presented and discussed.
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Ishigami, Genya, Jim Overholt, and Karl Iagnemma. "Multi-Material Anisotropic Friction Wheels for Omnidirectional Ground Vehicles." Journal of Robotics and Mechatronics 24, no. 1 (February 20, 2012): 261–67. http://dx.doi.org/10.20965/jrm.2012.p0261.
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In this paper, a novel wheel design utilizing the anisotropic friction property for omnidirectional vehicles is presented. The proposed wheel has a series of bendable “nodes” on its circumference, each of which is made of two materials with differing friction properties: one material exhibits high friction, and the other exhibits low friction. The high friction section of the node generates a high traction force, while the low friction section enables the wheel to passively skid. The wheels are arranged such that the robot wheel exhibits high traction in its drive direction (much like a conventional tire), but low traction when sliding laterally. Exploiting this “anisotropic friction” property, the proposed wheel enables a vehicle to realize omnidirectional motion (i.e., the vehicle can move any direction within the plane - forward, back, or laterally). While many other omnidirectional wheel drives exist, the proposed wheel is simpler than any other existing design because the wheel is composed of a single, moldable element. This paper summarizes the design of the proposed wheel and presents experimental comparisons between an omnidirectional robot using the proposed wheel and an omnidirectional robot using conventional wheels.
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Palacín, Jordi, David Martínez, Elena Rubies, and Eduard Clotet. "Suboptimal Omnidirectional Wheel Design and Implementation." Sensors 21, no. 3 (January 28, 2021): 865. http://dx.doi.org/10.3390/s21030865.
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The optimal design of an omnidirectional wheel is usually focused on the minimization of the gap between the free rollers of the wheel in order to minimize contact discontinuities with the floor in order to minimize the generation of vibrations. However, in practice, a fast, tall, and heavy-weighted mobile robot using optimal omnidirectional wheels may also need a suspension system in order to reduce the presence of vibrations and oscillations in the upper part of the mobile robot. This paper empirically evaluates whether a heavy-weighted omnidirectional mobile robot can take advantage of its passive suspension system in order to also use non-optimal or suboptimal omnidirectional wheels with a non-optimized inner gap. The main comparative advantages of the proposed suboptimal omnidirectional wheel are its low manufacturing cost and the possibility of taking advantage of the gap to operate outdoors. The experimental part of this paper compares the vibrations generated by the motion system of a versatile mobile robot using optimal and suboptimal omnidirectional wheels. The final conclusion is that a suboptimal wheel with a large gap produces comparable on-board vibration patterns while maintaining the traction and increasing the grip on non-perfect planar surfaces.
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Kubandt, Frederike, Michael Nowak, Tim Koglin, Claudius Gros, and Bulcsú Sándor. "Embodied robots driven by self-organized environmental feedback." Adaptive Behavior 27, no. 5 (June 27, 2019): 285–94. http://dx.doi.org/10.1177/1059712319855622.
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Which kind of complex behavior may arise from self-organizing principles? We investigate this question for the case of snake-like robots composed of passively coupled segments, with every segment containing two wheels actuated separately by a single neuron. The robot is self-organized both on the level of the individual wheels and with respect to inter-wheel coordination, which arises exclusively from the mechanical coupling of the individual wheels and segments. For the individual wheel, the generating principle proposed results in locomotive states that correspond to self-organized limit cycles of the sensorimotor loop. Our robot interacts with the environment by monitoring the state of its actuators, that is, via propriosensation. External sensors are absent. In a structured environment the robot shows complex emergent behavior that includes pushing movable blocks around, reversing direction when hitting a wall, and turning when climbing a slope. On flat grounds the robot wiggles in a snake-like manner, when moving at higher velocities. We also investigate the emergence of motor primitives, namely, the route to locomotion, which is characterized by a series of local and global bifurcations in terms of dynamical system theory.
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Kim, Yoo-Seok, Gwang-Pil Jung, Haan Kim, Kyu-Jin Cho, and Chong-Nam Chu. "Wheel Transformer: A Wheel-Leg Hybrid Robot With Passive Transformable Wheels." IEEE Transactions on Robotics 30, no. 6 (December 2014): 1487–98. http://dx.doi.org/10.1109/tro.2014.2365651.
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Hou, Linfei, Fengyu Zhou, Kiwan Kim, and Liang Zhang. "Practical Model for Energy Consumption Analysis of Omnidirectional Mobile Robot." Sensors 21, no. 5 (March 5, 2021): 1800. http://dx.doi.org/10.3390/s21051800.
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The four-wheeled Mecanum robot is widely used in various industries due to its maneuverability and strong load capacity, which is suitable for performing precise transportation tasks in a narrow environment. While the Mecanum wheel robot has mobility, it also consumes more energy than ordinary robots. The power consumed by the Mecanum wheel mobile robot varies enormously depending on their operating regimes and environments. Therefore, only knowing the working environment of the robot and the accurate power consumption model can we accurately predict the power consumption of the robot. In order to increase the applicable scenarios of energy consumption modeling for Mecanum wheel robots and improve the accuracy of energy consumption modeling, this paper focuses on various factors that affect the energy consumption of the Mecanum wheel robot, such as motor temperature, terrain, the center of gravity position, etc. The model is derived from the kinematic and kinetic model combined with electrical engineering and energy flow principles. The model has been simulated in MATLAB and experimentally validated with the four-wheeled Mecanum robot platform in our lab. Experimental results show that the accuracy of the model reached 95%. The results of energy consumption modeling can help robots save energy by helping them to perform rational path planning and task planning.
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Igo, Naoki, Daichi Fujita, Ryoma Hanabusa, Yasuto Nagase, Satoshi Mitsui, and Toshifumi Satake. "Docking Unit Joining Omni Wheel Robot and Mobile Robot." EPI International Journal of Engineering 2, no. 2 (August 31, 2019): 132–38. http://dx.doi.org/10.25042/epi-ije.082019.07.
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This research realizes a docking unit joining omni wheel robot and mobile robot. The omni wheel robot cannot move on rough ground. In order to move on rough ground, a mobile robot that can move with the omni wheel robot is required. The docking unit aims at a unit that can be used without remodeling omni wheel robot. The docking unit realized by this research can store the fixed part of the omni wheel robot. When omni wheel robot is mounted, the mounting surface is flat because the fixed parts are stored, and the omni wheel robot can be mounted by sliding. As a result, we designed a mechanism to connect the fixed parts to store the parts that fix the omni wheel robot. And the fixed parts with the mechanism were made.
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Truong, Le Phuong, Huan Liang Tsai Liang Tsai, and Huynh Cao Tuan. "DEVELOPMENT OF DIRECTIONAL ALGORITHM FOR THREE-WHEEL OMNIDIRECTIONAL AUTONOMOUS MOBILE ROBOT." Vietnam Journal of Science and Technology 59, no. 3 (May 17, 2021): 345. http://dx.doi.org/10.15625/2525-2518/59/3/15583.
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A The proposed system developed an omnidirectional algorithm to control autonomous mobile robots with three wheels. The implementation system consists of three Planet DC motors with rated power of 80 W for three wheels, three encoders for speed feedback, one encoder for distance feedback, and one digital compass sensor for angle feedback. The main system with an STM32F407 microcontroller is designed for directional control of wheels based the signal received from compass sensor and encoder and then controls three subsystems to adjust the steering speed of each wheel. The sub-system is built to control only one DC motor for each wheel with the built-in proportional integral derivative controller (PID) algorithm by an STM32F103 microcontroller. Furthermore, the directional control algorithm is developed for three omnidirectional wheels and a PID algorithm is designed to control the speed of DC motor for each wheel. From the results the proposed system has the advantages: (1) to auto adjust the angle and position; (2) to erase the sensor for tracking line of the automobile robot; (3) cost-effectiveness and high accuracy
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Wei, Yongle, Jiashun Zhang, and Lijin Fang. "Walking Characteristics of Dual-Arm Inspection Robot with Flexible-Cable." Journal of Robotics 2021 (April 19, 2021): 1–14. http://dx.doi.org/10.1155/2021/8885919.
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The overhead transmission line has a catenary shape, which has great influence on the dynamic characteristics of an inspection robot walking along the line and may even cause the walking-wheel to fall from the line. Compared with other similar inspection robots, the unique structure of the dual-arm inspection robot with flexible-cable is introduced. Taking the dual-arm inspection robot with flexible-cable walking along the uphill section of the line as an example, the force states of the robot when it works at acceleration, uniform speed, deceleration, and stopping were studied in detail. The corresponding force balance equations were established, and the walking-wheel torques in each working state were solved. The working states of the robot walking along the catenary shape line were simulated using ADAMS software. Simulation results show that the walking process of the robot is stable, the walking-wheels have good contact with the line, and the forces of two walking-wheels are almost balanced, which enables the robot to have good adaptability and climbing ability for the line. The prototype test that the robot walked along the line was carried out. The results of the simulation and prototype test are consistent with the theoretical analysis, so the rationality of robot structure design is verified. In the future, the navigation control and stability of the robot walking along the line will be researched, so that the robot can complete the patrol task in the real environment.
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Rochmanto, Raditya Artha, M. Aziz Muslim, and Mochammad Rif’an. "Rancang Bangun Robot Three wheeled Omnidirectional Dengan Konfigurasi Mikrokontroler Master-Slave." Jurnal Fokus Elektroda : Energi Listrik, Telekomunikasi, Komputer, Elektronika dan Kendali) 5, no. 4 (November 27, 2020): 07. http://dx.doi.org/10.33772/jfe.v5i4.14629.
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Three wheeled omnidirectional robot has been used in industries and academics fields because its ability to move freely and simultaneously both rotation and translation. Free movement in this robot is assisted by omni wheel which consists of wheels and rollers. So, the movement of this robot is a combination of wheel and roller rotation. At present, the task given to the mobile robot is increasingly complex, so it makes microcontroller’s workload heavier. A microcontroller’s workload could be lightened by master-slave configuration to divide the microcontroller’s tasks. The wheel rotating speed control system uses a pid controller to obtain a fast and stable wheel speed response. The PID parameters, kp,ki,kd were obtained by using the hand tuning method. The testing results shown the average error of robot direction is 4,3750 and the direction of the robot’s face changed 5.750.
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Ghariblu, Hashem, Ali Moharrami, and Behnam Ghalamchi. "Design and Modeling of a Ball Wheel Mobile Robot." Advanced Materials Research 463-464 (February 2012): 1215–18. http://dx.doi.org/10.4028/www.scientific.net/amr.463-464.1215.
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A new generation for an omni-directional ball wheel mobile robot with unique driving mechanism is introduced. This driving system overcomes to problems arise using traditional omni-wheels such as, vibration, inappropriate to employ in outdoor applications and limited load capacity. Mechanical structure of this robot has several distinctive characteristics in comparison with our previous robot. Modularity of driving system is the most important ability of new robot, beside on appending a suspension system to improve behavior of robot in rough terrains. Due to independent operation of three ball wheel chassis, designed robot has high performance in going over obstacles along its path.
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Godse, Dr D. A. "Seed Sowing Robot." International Journal for Research in Applied Science and Engineering Technology 9, no. 9 (September 30, 2021): 781–86. http://dx.doi.org/10.22214/ijraset.2021.38042.
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Abstract: Agriculture is the most important field for human beings. It is the backbone of our country's economic system. Equipment that needs less human effort and time with less price of implementation is way needed for fulfilment within the agricultural trade. Project work is focused on the seed sowing process and the design of a four-wheel-drive robot that does the work of seed sowing in plowed agricultural land avoiding the human effort by tracing the path and sowing seeds and tried to solve the problems related to agriculture. Seed sowing robot consists of battery-powered wheels, a DC motor inbuilt in these wheels, an Arduino Uno is useful for controlling the robotic activities. The Robot can detect the obstacle very easily with the help of an ultrasonic sensor. In every complete rotation of the rotating wheel, there’s a seed fall from the seed drum and performs seed sowingoperation. Keywords: Agriculture, Farmer, Seed, Robot
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Li, Jiehao, Junzheng Wang, Shoukun Wang, Hui Peng, Bomeng Wang, Wen Qi, Longbin Zhang, and Hang Su. "Parallel structure of six wheel-legged robot trajectory tracking control with heavy payload under uncertain physical interaction." Assembly Automation 40, no. 5 (July 6, 2020): 675–87. http://dx.doi.org/10.1108/aa-08-2019-0148.
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Purpose This paper aims on the trajectory tracking of the developed six wheel-legged robot with heavy load conditions under uncertain physical interaction. The accuracy of trajectory tracking and stable operation with heavy load are the main challenges of parallel mechanism for wheel-legged robots, especially in complex road conditions. To guarantee the tracking performance in an uncertain environment, the disturbances, including the internal friction, external environment interaction, should be considered in the practical robot system. Design/methodology/approach In this paper, a fuzzy approximation-based model predictive tracking scheme (FMPC) for reliable tracking control is developed to the six wheel-legged robot, in which the fuzzy logic approximation is applied to estimate the uncertain physical interaction and external dynamics of the robot system. Meanwhile, the advanced parallel mechanism of the electric six wheel-legged robot (BIT-NAZA) is presented. Findings Co-simulation and comparative experimental results using the BIT-NAZA robot derived from the developed hybrid control scheme indicate that the methodology can achieve satisfactory tracking performance in terms of accuracy and stability. Originality/value This research can provide theoretical and engineering guidance for lateral stability of intelligent robots under unknown disturbances and uncertain nonlinearities and facilitate the control performance of the mobile robots in a practical system.
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Taira, Tetsuya, and Nobuyuki Yamasaki. "Development of Modular Humanoid Robot Based on Functionally Distributed Modular Robot Architecture." Journal of Robotics and Mechatronics 17, no. 3 (June 20, 2005): 236–47. http://dx.doi.org/10.20965/jrm.2005.p0236.
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This paper describes the development of a modular humanoid robot based on our proposed functionally distributed modular robot architecture. Our proposed architecture features three key concepts, 1) a modular humanoid robot, 2) a functionally distributed module, and 3) a transparent layered software model. Our humanoid robot is designed as a modular robot system consisting of several functionally distributed modules with exclusive mechanical parts, electronic parts, and software for elemental functions such as leg, arm, and vision. Depending on many purposes of researchers and users, our humanoid robot can be used as some kinds of humanoid robots or several autonomous robots, e.g., a wheel robot, an arm robot, or a head robot. We developed the prototype modular humanoid robot consisting of five functionally distributed modules such as two arm modules, a wheel module, a head module, and a main module for evaluating our proposed architecture.
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Zhileykin, M. M. "Improving the Energy Efficiency of Movement and Cross-Country Capacity of an Articulated Mobile Wheeled Robot by Controlling an Individual Electric Traction Drive." Proceedings of Higher Educational Institutions. Маchine Building, no. 5 (734) (May 2021): 17–23. http://dx.doi.org/10.18698/0536-1044-2021-5-17-23.
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Articulated wheel-walking robots having a good combination of weight and load capacity, as well as high cross-country capacity and maneuverability are among the promising schemes of mobile robotic systems. One of the main requirements for such complexes is a high level of autonomy. In this regard, the task of improving the energy efficiency of the articulated mobile wheeled robot movement (especially in long-term transport mode) by reducing the driving wheel skid becomes urgent. An algorithm for the operation of the antiskid system of such a robot with an individual traction electric drive has been developed. It provides an increase in the energy efficiency of robot movement and cross-country capacity by reducing the skid of the driving wheels. The efficiency of the antiskid system operation algorithm has been proved by the simulation methods.
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Kumagai, Masaaki, and Kaoru Tamada. "Wheel Locomotion of a Biped Robot Using Passive Rollers – Large Biped Robot Roller Walking Using a Variable-Curvature Truck –." Journal of Robotics and Mechatronics 20, no. 2 (April 20, 2008): 206–12. http://dx.doi.org/10.20965/jrm.2008.p0206.
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This paper proposes the leg-wheel locomotion of a biped robot. The feet of the robot consist of wheels that move forward with the periodic motion of a leg under a double-leg support. There are many types of approach leg-wheel hybrid systems; however, biped system with passive wheels is rarely used. A special axle mechanism is introduced so that the wheels could smoothly track a curved path for propulsive motion. Finally, the robot achieves not only straight and circular motion but also pivoting motion that is significantly faster than walking, while implementing a minimal number of simple components. The concept of locomotion, function of the mechanism, and experimental results are described in this paper.
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Sun, Zhang Jun, Jing Long Yan, Chao Quan Li, Yue Ju Li, and Chao Di. "Design and Simulation of a Variable Structure Mobile Robot." Applied Mechanics and Materials 457-458 (October 2013): 672–76. http://dx.doi.org/10.4028/www.scientific.net/amm.457-458.672.
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Combined with the advantages of good protection of global robot, self-equilibrium, easy control of wheeled robot and strong obstacle surmounting ability of turbofan robot, a variable structure mobile robot which has three kinds of basic modalities of global, turbofan and three-wheel is designed. The balancing leg is retracted and the two polymorphic wheels of the robot are closed into a sphere while in the global state, and it could be conveniently threw, carried and make all directional movements on the flat grounds. When confronted with the complicated terrain environments of sand, slopes etc., the two polymorphic wheels will be outspread to the turbofan state, and the balancing leg will be opened out as a third supporting wheel so as to strengthen the ability to adapt to the environment. When the two polymorphic wheels are expanded into two wheels, the robot motions are more smoothly and easily to be controlled. A virtual prototype of the robot is designed by three-dimensional technology, as well as the motion simulation. Rationality of the mechanism design scheme of the variable structure mobile robot is verified.
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Lan, Guiping, Yujun Wang, Can Fang, and Min Yi. "Novel Design of a Biaxial and Four-Wheeled Robot Capable of Steering." MATEC Web of Conferences 160 (2018): 06006. http://dx.doi.org/10.1051/matecconf/201816006006.
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The paper presents a biaxial and four-wheeled robot, mainly composed of two axle, two circular wheels and two three-leaved wheels. By analyzing the difference between the velocity of the circular wheel and three-leaved wheel in same axle, the steering principle of the difference velocity is proved. The three-leaved wheels are installed by a complementary phase method to ensure the stability of the robot walking. Through the steering principle, the control method of robot’s forward, backward, turn left and turn right is designed. A large number of experimental results show that the robot has the characteristics of high steering efficiency, simple mechanical structure and easy to control.
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Zha, Fu Sheng, Zhen Shan Bing, Jun Wang, Peng Fei Wang, Man Tian Li, Wei Guo, Long Cheng, and Yu Xia. "Developing of a Wheel-Paddle Integrated Propeller for Amphibious Robot Based on Moving Webbed Paddle Wheels." Applied Mechanics and Materials 701-702 (December 2014): 689–96. http://dx.doi.org/10.4028/www.scientific.net/amm.701-702.689.
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With wheeled amphibious robot as the research object, for the adaptability of amphibious robot to amphibious environment such as sandy, muddy, or rocky land, we have proposed a new wheel-paddle integrated propeller based on moving webbed paddle wheels. This propeller made the robot functional well in the water and on land, and made it a good adaptability to amphibious environment. Considering the specific situations of the amphibious robot, the design process was proposed to design this integrated wheel-paddle integrated propeller. The angles of the paddles in water were analyzed for stability through simulations. Finally, a wheel-paddle integrated propeller based on moving webbed paddle wheels was made according to virtual model. To test the prototype propeller’s performance on speed, turning and switching ability both on land and in water, several experiments were carried out. Results showed that the prototype propeller achieved the desired design specifications.
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Bulut, Vahide. "Differential geometry of autonomous wheel-legged robots." Engineering Computations 37, no. 2 (September 6, 2019): 615–37. http://dx.doi.org/10.1108/ec-11-2018-0546.
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Purpose The purpose of this study is to obtain the differential geometric analysis of autonomous wheel-legged robots and their trajectories on the terrain. Design/methodology/approach The author uses a wheel using the osculating sphere of the curve on rough terrain. Additionally, the author expresses a triple osculating sphere wheel by taking advantage of differential geometry. Moreover, the author examined the consecutive wheel center-curves to obtain the optimum posture of a micro-hydraulic toolkit (MHT) robot. Findings The author examined the terrain path, which is crucial for trajectory planning in terms of the geometric perspective. The author designed the triple MHT wheel using the osculating sphere of the MHT robot trajectory by taking advantage of local differential geometric properties of this curve on the terrain. The consecutive wheel center-curves were expressed and studied based on differential geometry. Originality/value The author provides a novel approach for the optimum posture of an MHT robot using consecutive wheel-center curves and provides an original perspective to MHT robot and its trajectory by using differential geometry.
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Bruzzone, Luca, and Pietro Fanghella. "Mantis: hybrid leg-wheel ground mobile robot." Industrial Robot: An International Journal 41, no. 1 (January 14, 2014): 26–36. http://dx.doi.org/10.1108/ir-02-2013-330.
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Purpose – The aim of the research is the development of a small-scale ground mobile robot for surveillance and inspection; the main design goals are mobility in indoor environments with step climbing ability, pivoting around a vertical axis and without oscillations for stable vision, mobility in unstructured environments, low mechanical and control complexity. Design/methodology/approach – The proposed hybrid leg-wheel robot is characterized by a main body equipped with two actuated wheels and two praying Mantis rotating legs; a rear frame with two idle wheels is connected to the main body by a vertical revolute joint for steering; a second revolute joint allows the rear axle to roll. The geometrical synthesis of the robot has been performed using a nondimensional approach for generality's sake. Findings – The experimental campaign on the first prototype confirms the fulfilment of the design objectives; the robot can efficiently walk in unstructured environments realizing a mixed wheeled-legged locomotion. Practical implications – Thanks to the operative flexibility of Mantis in indoor and outdoor environments, the range of potential applications is wide: surveillance, inspection, monitoring of dangerous locations, intervention in case of terroristic attacks, military tasks. Originality/value – Different from other robots of similar size, Mantis combines high speed and energetic efficiency, stable vision, capability of climbing over high steps, obstacles and unevenness.
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Yoon, Kyung Hyun, and Young Woo Park. "Development of in-Pipe Robot with Controllable Magnetic Force." Advanced Materials Research 317-319 (August 2011): 1983–86. http://dx.doi.org/10.4028/www.scientific.net/amr.317-319.1983.
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Pipes are everywhere; they are used in a variety of pipelines that should be inspected and maintained to ensure their safety and integrity. Currently, the in-pipe robot for such applications is considered as one of the most attractive solutions available. The most important thing, in-pipe robot must concerned adhesion mechanisms. Several adhesion mechanisms have been proposed and developed. We applied magnetic adhesion mechanism. Magnetic adhesion on in-pipe robots has some advantages such as fast locomotion, no additional energy for adhesion process, and one definite disadvantage like difficulty to control magnetic force. To solve this disadvantage, the permanent magnetic wheels that allow controllable magnetic force. This paper proposes a new in-pipe robot that applied controllable magnetic wheel. The idea is conceptualized, simulated, fabrication, and validated experimentally. The pulling force increases linearly form 8 newtons (N) to 26 newtons. It means that the proposed method is effective to control magnetic force between the wheel and interior surfaces of ferromagnetic pipes.
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Ferrière, L., G. Campion, and B. Raucent. "ROLLMOBS, a new drive system for omnimobile robots." Robotica 19, no. 1 (January 2001): 1–9. http://dx.doi.org/10.1017/s0263574700002873.
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Typical mobile robot structures (e.g. wheelchairs or car-like robots) do not have the required mobility for common applications such as displacement in an office, hospital, workshop, etc. New structures based on the “universal wheel” (i.e. a wheel equipped with freely rotating rollers) have been developed to increase mobility. However, these structures have important drawbacks such as spurious vibrations and limited load capacity. This paper presents a new type of omnimobile platform using an original combination of spherical wheel and universal wheel. This structure will improve the robot capabilities, i.e., load capacity and surmountable bumps.
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Peng, Ping, Xiao Jun Zhang, Guang Ming Yuan, and Zhe Liu. "Dynamic Analysis of the Wheel-Legged Mobile Robot." Applied Mechanics and Materials 344 (July 2013): 174–81. http://dx.doi.org/10.4028/www.scientific.net/amm.344.174.
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The design of the wheel-legged mobile robot is mainly used for the early toxic gas leakage warning and disaster relief in the field of wild environment. The robot needs to cross some obstacles such as ditch and step when carrying out a task. The paper analyzes the strategies of robot passing the all kinds of obstacles. Considering the influence of disturbance by uneven road surface, the dynamic model of robot crossing the step and groove on the uneven road surface is built based on the robots structural features. While the control model of front wheel-leg is also presented based on the robot dynamic model. The results of simulation expriments demonstrate the correctness of the built dynamic model and laid the foundation for the design of the robot control system.
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Lee, S. S., and J. H. Williams. "A fast tracking error control method for an autonomous mobile robot." Robotica 11, no. 3 (May 1993): 209–15. http://dx.doi.org/10.1017/s0263574700016076.
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SUMMARYThis paper proposes a fast tracking error control method for a mobile robot with two differentially driven wheels. The tracking error between reference state and current state is transformed to the required displacement changes of each drive wheel by a wheel Jacobian. The major objective of this paper is to propose a control method for eliminating the tracking error quickly by controlling two independent driving wheels at the same time. To avoid long computational requirements of a Cartesian-based control, a kinematic model of the vehicle and co-ordinate system are introduced. Several simulation results are presented using this method. The fast tracking error control method proposed is mainly hardware-independent and Hence can be applied to various kinds of mobile robots which have two differentially driven wheels. The method was implemented on an experimental vehicle, WCVS, The experimentation shows a performance suitable for practical applications.
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Kim, Inho, Wonseok Jeon, and Hyunseok Yang. "Design of a transformable mobile robot for enhancing mobility." International Journal of Advanced Robotic Systems 14, no. 1 (January 1, 2017): 172988141668713. http://dx.doi.org/10.1177/1729881416687135.
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This article proposes a design of a transformable mobile robot as a new concept of hybrid-type mobile robot in order to enhance mobility. Mobility considered in this work is based on stability, energy efficiency, and the capability to overcome obstacles. The proposed transformable mobile robot can change its bogie link lengths and wheel size. The relationships between mobility and the link length and the wheel size are studied. Its stability, energy efficiency, and the capability to overcome obstacles are compared through the simulations of three famous conventional passive bogie-type robots (Rocker-Bogie, RCL-E, and CRAB types) and the proposed robot. The simulation and experimental results show that the suggested transformable robot is superior to the conventional-type robots in terms of mobility enhancement.
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Wang, Qi, DaZhang You, and Jing Yang. "Three-wheel full-wheel robot speed algorithm." Journal of Physics: Conference Series 1176 (March 2019): 062010. http://dx.doi.org/10.1088/1742-6596/1176/6/062010.
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Nakajima, Shuro. "RT-Mover: a rough terrain mobile robot with a simple leg–wheel hybrid mechanism." International Journal of Robotics Research 30, no. 13 (June 22, 2011): 1609–26. http://dx.doi.org/10.1177/0278364911405697.
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There is a strong demand in many fields for practical robots, such as a porter robot and a personal mobility robot, that can move over rough terrain while carrying a load horizontally. We have developed a robot, called RT-Mover, which shows adequate mobility performance on targeted types of rough terrain. It has four drivable wheels and two leg-like axles but only five active shafts. A strength of this robot is that it realizes both a leg mode and a wheel mode in a simple mechanism. In this paper, the mechanical design concept is discussed. With an emphasis on minimizing the number of drive shafts, a mechanism is designed for a four-wheeled mobile body that is widely used in practical locomotive machinery. Also, strategies for moving on rough terrain are proposed. The kinematics, stability, and control of RT-Mover are also described in detail. Some typical cases of rough terrain for wheel mode and leg mode are selected, and the robot’s ability of locomotion is assessed through simulations and experiments. In each case, the robot is able to move over rough terrain while maintaining the horizontal orientation of its platform.
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Peng, Ping, Xiao Jun Zhang, Jun Zhang, and Zhe Liu. "Research on Kinematic of the Wheel-Legged Robot Based on Uneven Road Surface." Advanced Materials Research 712-715 (June 2013): 2312–19. http://dx.doi.org/10.4028/www.scientific.net/amr.712-715.2312.
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A new type of wheel-legged mobile robot is presented in the paper, which is mainly used for early toxic gas leakage warning and disaster relief in the field of wild environment. The paper first presents the structure feature of the new wheel-legged mobile robot. According to the structure of the robot, the kinematics model about robot moving on the smoothing-riding surface is built. On this basis, considering the effects of the disturbance by uneven road surface the paper carries out the robots kinematics analysis. To simulate the result of robot moving on the real road surface, the paper researches on the robots kenimatics by inputing some typical ground driving to the robot. The result of the simulation experiment shows that the robot pose error is more increasing. So the influence of ground disturbance to robot should be took into account in designing the control symstem, which can decrease the pose error and make robot move more accurately.
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Hartono, Rodi, and Gyan Aditiya Firdaus. "Implementation of Intelligent Fire Extinguisher Robots with Multi Independent Steering." Telekontran : Jurnal Ilmiah Telekomunikasi, Kendali dan Elektronika Terapan 6, no. 2 (October 25, 2018): 35–46. http://dx.doi.org/10.34010/telekontran.v6i2.3798.
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Abstract - Robot technology appears to ease human work. With devices such as fire fighting robots, rescue robots, surveillance robots, and robots whose functions differ according to field needs. In this paper, we have the idea of implementing an intelligent fire extinguisher robot with multi-independent steering that can be directed to the location of the fire to find the source of hotspots. With multi-independent steering, the wheels on the robot can navigate and move swiftly on each wheel that moves in all directions. In this paper we simulate by searching for candles as a source of hotspots. When this robot finds a source of fire, this robot will turn off the candle or source of the fire automatically. This robot contains the following functional components: ultrasonic to find out the surrounding field, a light sensor to look for sources of hotspots or light sources, and a fan to turn off the candle or the point of fire. In terms of design, although the designs of robots are minimalist and small, they provide protection at high temperatures, excellent waterproof when exposed to water spray, and a high impact resistance. As well as creating an automatic robot that aims to find a way automatically to find the presence of hotspots on the fire field without being controlled. This study aims to provide an automatic fire extinguisher system that can help and lighten the fire extinguishing profession which has a high level of risk in its operation. The results of this study will be able to create an intelligent robot that can minimize the risk of the work of a fire extinguisher profession with a multi-independent steering method. By using this method the steering system where each wheel can move freely. With this steering system the robot can move freely in all directions and is a type of holomonic motionKeyword : Fire extinguisher robot, robotic system, portable evacuation guide, multi-independent steering
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Percy, Andrew, Ian Spark, Yousef Ibrahim, and Leon Hardy. "A numerical control algorithm for navigation of an operator-driven snake-like robot with 4WD-4WS segments." Robotica 29, no. 3 (July 21, 2010): 471–82. http://dx.doi.org/10.1017/s0263574710000317.
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SUMMARYThis paper presents a new algorithm for the control of a snake-like robot with passive joints and active wheels. Each segment has four autonomously driven and steered wheels. The algorithm approximates the ideal solution in which all wheels on a segment have the same centre of curvature with wheel speeds, providing cooperative redundancy. Each hitch point joining segments traverses the same path, which is determined by an operator, prescribing the path curvature and front hitch speed. The numerical algorithm developed in this paper is simulation tested against a previously derived analytical solution for a predetermined path. Further simulations are carried out to show the effects of changing curvature and front hitch speed on hitch path, wheel angles and wheel speeds for a one, two and three segment robot.
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Zhou, Faliang, Xiaojun Xu, Haijun Xu, Teng’an Zou, and Lei Zhang. "Transition mechanism design of a hybrid wheel-track-leg based on foldable rims." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 233, no. 13 (February 25, 2019): 4788–801. http://dx.doi.org/10.1177/0954406219831029.
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Hybrid mobile robots with multiple locomotion modes are getting more and more popular in search and rescue (SAR) and explosive object disposal (EOD) missions because of their good terrain adaptability. Present researchers devote themselves to develop efficient and reliable transition method between different locomotion modes to make the hybrid robot more compact and flexible. In this paper, we present a novel transition mechanism for a hybrid wheel-track based on foldable rims. The wheel rim is cut into four segments so that it is foldable. And the transition between wheel and track is achieved by the folding or unfolding of the foldable rim. According to its geometrical property during the transition process, a single-freedom supporting spoke is proposed to drive the foldable rim’s transformation. We analyze the length and angle varying principles of the supporting spoke by utilizing the kinematic mode based on screw theory. According to above results, five different kinds of transition mechanism of the supporting spoke is designed, performance comparison among which is conducted by dynamic simulations. Two of the five candidate transition mechanisms are picked up for their smaller driving force requirements. Their 3D printing prototypes are also fabricated and experiments show that the hybrid wheel-track can switch between wheel and track successfully. Compared to most hybrid robots which have separate wheels, tracks and legs, this transition mechanism makes the robot own both compact structure and multimodal locomotion.
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Crenganis, Mihai, Cristina Biris, and Claudia Girjob. "Mechatronic Design of a Four-Wheel drive mobile robot and differential steering." MATEC Web of Conferences 343 (2021): 08003. http://dx.doi.org/10.1051/matecconf/202134308003.
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This paper presents, the development of an autonomous mobile robot with a four-wheel drive and differential locomotion. The mobile robot was developed in the Machines and Industrial Equipment Department from the Engineering Faculty of Sibiu. The main purpose of developing this type of mobile platform was the ability to transport different types of cargo either in industrial spaces or on rough terrain. Another important objective was that this platform could be driven in confined or tight spaces where a high degree of manoeuvrability is necessary. The great advantage of this type of mobile platform is the ability to navigate through narrow spaces due to the type of locomotion implemented. The fact that the robot has four driving wheels gives it the ability to travel on rough surfaces and easily bypass obstacles. Another great advantage of the developed mobile robot is that it has a reconfigurable structure. The drivetrain is interchangeable, it can adopt both classic wheels and Mecanum wheels. The first part of the paper presents some general aspects concerning mobile robots and two types of traction wheels used in mobile robotic structures. Subsequently, the paper presents the steps taken in the development of the mobile wheeled platform. At the end of the paper, the electronic part that will be implemented in the structure of the robot is described. The command and control of the entire mobile platform will be described in some future work.
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Noh, Myounggyu, Eunsang Kwon, So Hee Park, and Young-Woo Park. "Modeling of Attractive Force by Magnetic Wheel Used for Mobile Robot." Actuators 9, no. 3 (August 9, 2020): 67. http://dx.doi.org/10.3390/act9030067.
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Mobile robots that are required to climb inclined ferromagnetic surfaces typically employ magnetic wheels. In order to design magnetic wheels and to properly size the permanent magnet as magnetizing source without the need for finite element analyses, a model that predicts the attractive magnetic force is necessary. In this paper, an analytical force model is derived by estimating the reluctance between the wheel and the surface. A magnetic circuit is constructed, incorporating the leakage flux from the side of the wheel. The model is validated against the results from finite element analyses and measurements from a test rig and a wheel prototype. Within the limitations of the model, it can adequately predict the force and can be used for initial design of magnetic wheels.