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This paper describes one of the most important issues for mobile robots: it is simultaneous optimization of robot structures and its control systems using evolutionary algorithm and dynamics simulation. Generally, wheeled mobile robots have difficulty in traveling on the outdoor environments because of its mechanical limitations. And, the effective outdoor traveling has deeply relationship between...
Various mobile mechanisms have been developed combining linkage mechanisms and wheels, and the combination of passive linkage mechanisms and small wheels is one of research trends to enhance the mobility on irregular terrain. We have been working on a 6-wheeled mobile robot employing a passive linkage mechanism, which achieved climbing capability over a 0.20[m] height of bump and stairs, and developed...
In this paper an embedded computer based autonomous robot for pipe inspection is presented. Robot propulsion mechanism and power system and its protection system are designed. To avoid of getting stuck in pipe a new emergency release mechanism proposed. The practical field tests show that the robot performs well and can do pipe inspection properly and the robot moves gracefully not only at straight...
Recently, various mechanisms have been developed combining linkage mechanisms and wheels, especially, the combination of passive linkage mechanisms and small wheels is one of main research trends, because standard wheel type mobile mechanisms have difficulties on rough terrain movements. In our research, a 6-wheeled mobile robot employing a passive linkage mechanism has been developed to enhance maneuverability...
Recently, various mechanisms have been developed combining linkage mechanisms and wheels, especially, the combination of passive linkage mechanisms and small wheels is one of main research trends, because standard wheel type mobile mechanisms have difficulties on rough terrain movements. In our research, a 6-wheeled mobile robot employing a passive linkage mechanism has been developed to enhance maneuverability...
A wheeled mobile mechanism with a passive and/or active linkage mechanism for rough terrain environment is developed and evaluated. In our previous research, we developed a switching controller system for wheeled mobile robots in rough terrain. This system consists of two sub-systems: an environment recognition system using self-organizing map (SOM) and an adjustable control system using neural network...
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