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In the paper, a mobile robot, which consists of a conventional four-wheel independent propulsion and individual steering system and a 5th steerable propulsive wheel, has been presented. The robot is able to achieve multiple prototypes with different wheelbase, wheel stance, clearance, and altitude of center of gravity by reconfiguration, and obtain diversified locomotive modes through the control...
In this paper, the framework of hierarchical parallel control architecture based on competitive mechanism is highlighted to present reconflgurable hardware logic and algorithms of network-based motor control, and application for the open mobile robot's control system is demonstrated to address a special kind of strong coupling of mechanical and electrical hardware, the interchange of propulsive wheel...
As terrain provides the only and powerful thrust to a mobile robot, design with consideration to terrain is most important, particularly for the robot in sandlot or the soft soiled environment. A trade-off design based Terramechanics about a reconfigurable mobile robot is proposed based on Multi-Objective Optimization (MOO) with respect to Terramechanics. A novel analytic projection method is proposed...
A mobile robot prototype with independent propulsion and individual steering (4WD4WS)has been developed. The mission-oriented mobile robot has the adaptability of terrain, sensors and payload with the scope of 20 kilograms. Different prototypes with diversified wheelbase, wheel stance, clearance, stability margin and altitude of center of gravity can be achieved by reconfiguration. A wheel with high...
In this paper, a novel analytic projection method is proposed to calculate the prototype parameters of the reconfigurable mobile robot. The equivalent latitudinal and longitudinal stability margins of the mobile robot are investigated with non-linear characteristics. The Harmony Search (HS) method is also applied to obtain the optimal configurations.
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