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Remotely controllable wireless mobile robots are being used in many applications now days. Such systems can be restricted by the range of wireless signal. Mobile Ad-hoc Networks offer a number of advantages e.g. multi hop communication i.e. longer range; can be deployed without any infrastructure etc. This paper presents the implementation details of a wireless mobile robot system over Mobile Ad-hoc...
A miniature capsule robot (capsubot) – which has no external moving parts whereas a conventional robot has legs and/or wheels – is suitable for in-vivo applications, engineering diagnosis and pipe inspection. This study addresses the trajectory-tracking problem of an underactuated planar capsubot. A combining piecewise and behaviour-based control algorithm is proposed for trajectory tracking. This...
The paper presents an innovative design for a wheeled hopping robot. Our main objective was to obtain a stable and efficient robot, which can jump over obstacles and has the ability to reach a certain ledge. The innovative design of our robot has the capability to jump to a certain distance even with a zero initial velocity provided by the wheels movement. Also, we took into consideration the wind...
In recent years many researchers are trying to combine wheeled movement with legged movement or hopping movement to strengthen the robots adaptability to environment. Hybrid robots are playing a more and more important role in our modern life. However, their controls are mostly complicated. So in this paper we present a new solution for the wheeled hopping robot. Based on the mechanical design, this...
This paper proposes a new fuzzy control algorithm for the pendulum-driven cart system. The pendulum-driven cart is a novel mechanism that gives a new driving concept of ground mobile robot which employs only internal thrust and static friction. The system has two degrees of freedom, i.e. the pendulum angle and the cart position, but one control actuator mounted on the pivot of the pendulum. It aims...
In this paper, a model predictive controller for time delay capsubot system is presented. Linearized dynamics is used to predictive future system behavior and a control law is derived from a quadratic cost function penalizing the system tracking error and the control effort. It is noted that model predictive control has advantages over state feedback law because of consideration of constraints on...
A propulsion system that does not require any interaction with the external environment in the form of grasping or sticking is proposed. This internal propulsion system for a robot body operates by the use of the frictional force between the body and the environment, and the reaction force from the controlled acceleration of a mass. The dynamics and control issues of a rotating lever attached to a...
This paper presents a new method of applying laser sensor to obtain road boundary points in order to solve the road detection problems of outdoor cleaning mobile robot. This method makes full use of the advantages of laser sensor and realizes the recognition of road detection in real-time. The road boundary recognition algorithm including the feature extraction and coordinate calculation is proposed...
Capsule robots have attracted great attention from researchers due to their potential applications in medicine. In this paper, the capsule robot system is studied from the control point of view, i.e. an underactuated system which has two degrees of freedom but only one control actuator. An exponentially stable robust nonlinear control scheme based on Lyapunov stability theory is studied on the capsule...
This paper presents ceiling light landmarks based localization and motion control for a mobile robot. The novel mechanism design for the mobile robot is introduced, and the method of localization using ceiling light is proposed. Navigation map, network matrix and the method to find shortest path are described. From the path planning, the control scheme of autonomous navigation for the mobile robot...
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