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This paper presents a kind of modeling method for a two-body mobile robot, provides with its kinematic structure parameters and analyzes the forward kinematics and inverse kinematics. Considering the case of surpassing obstacles actively for this two-body mobile robot, the solutions of inverse kinematics are given out based on the geometric approach. Surpassing obstacles and turning analysis are made...
The issue of multi-robot formation is address in this paper. Usually robots can only handle local information described by an adjacency graph. We define structure error of formation based on the graph theory and propose a local control strategy for individual robot based on NN control with robust term which can ensure robots converge to a unique formation. Furthermore we discuss the performance on...
Formation navigation is an interesting topic in robotic community. In this paper, we focus on two aspects of formation navigation, leader-formation keeping and obstacle avoidance. A local control strategy based on adaptive NN control with robust term and a general obstacle avoidance strategy are proposed. It is proved that if formation pattern is smooth continuous, even interaction topology is dynamic,...
A redundant nonholonomic mobile modular manipulator composed of a 3-wheeled nonholonomic mobile platform and a N-degree of freedom (DOF) onboard modular manipulator is investigated in this paper. Redundancy of the atop manipulator is used to avoid tipping over of the entire robot through automatically adjusting self-motions in a realtime manner. On the basis of modular robot concept, a kind of integrated...
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