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A two-wheeled self-balancing robot is a special type of wheeled mobile robot, its balance problem is a hot research topic due to its unstable state for controlling. In this paper, human transporter model has been established. Kinematic and dynamic models are constructed and two control methods: Proportional-integral-derivative (PID) and Linear-quadratic regulator (LQR) are implemented to test the...
Clothbot is a new kind of climbing robot with novel structure that enables it to move on human cloth. Earlier version of Clothbot can only climb on cloth with manual control because there is complex deformation on human cloth and thus Clothbot can't keep itself stable. In this paper, we propose some new hardware improvements to enhance the stability of Clothbot on human cloth, then adopt a remote...
This paper presents a new Automatic Guided Vehicle (AGV) system, in which unique compact and heavy-payload under-cart design, high precision hybrid-mode stopping, modularized software and distributed AGV-caller system, are integrated to provide a reliable and worker-friendly AGV system for the flexible production Une. Besides, the results of a series of in-field tests validate the payload and precise...
This paper presents a predictive kinematic control method for a three-wheeled omnidirectional mobile robot on the basis of MY wheel-II assemblies. Firstly, the kinematic analysis is conducted, which shows that eight possible models can be employed in the controller to produce the desired motor velocity for servo motors. Then for each finite fixed prediction horizon, a predictive control strategy is...
In this paper, the current roboticized technologies and intelligent technologies applied in electric vehicles have been discussed. Vehicle structure design and motion control such as anti-slid, four wheel steering methods are analyzed. Besides, the driving strategy, vehicle monitoring and human-machine interaction are reviewed in details. Particularly, a new design of vehicle structure with detachable...
An effective path tracking control algorithm with speed adjustment is proposed. Traditional algorithms only use kinematic characteristics and take no consideration of dynamic restrains. Besides, most of the earlier studies on steering control assume that the longitudinal speed is constant, which is not reasonable. In this paper, we use an improved CLA with a PID controller for tight path tracking,...
An unmanned rover is widely used for exploration, for example planetary rovers and surveying in places too dangerous for a person to enter, such as poisonous, radioactive and high volcanic activity areas. It is very important for the rover to be able to maintain mobility in all ground conditions, as the success of the operation depends on it. Most of the current rovers are equipped with wheels or...
Skid-steering mobile robots, both wheels and tracked vehicles, are widely used because of their simple mechanism and robust. However, due to the complex wheel-ground interactions and the kinematics constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop a kinematics modeling estimation scheme to analyze the skid-steering wheeled...
This paper presented a novel power transmission lines inspecting robot named “Linebot”, which has high maneuverability and keeps in compact size and lightweight. Linebot has 11 degrees of freedom totally. It equips with two open-close wheels and a pair of grippers, which can be driven separately. As a result, there are three main types of motions to overcome the obstacles on the lines more efficiently...
A wall climbing robot based on negative pressure suction is designed, modeled and analyzed for service inspection of glass walls. Statics and kinetics analysis are conducted in order to guarantee the rational design. For reliable adsorption and stable motion of the robot, the friction forces of the front and rear wheels are determined by equations related to the robot size, weight, location of the...
Eccentric paddle mechanism (ePaddle) is a novel locomotion mechanism designed for amphibious search and rescue tasks. The ePaddle is able to enhance the mobility of amphibious robots for multi-terrains tasks. Based on the principle of ePaddle and the experiments on the prototype, an improved mechanism named ePaddle-EGM is proposed in this paper. The ePaddle-EGM is based on the epicyclic gear mechanism,...
According to its motion input and output characteristics of the repeated foldable wheel, a set of systematic design method is put forward. Based on the motion characteristics and functions of the repeated foldable wheel, its three modules is named. The folding-unfolding wheel module is synthesized on configuration synthesis method, design concept of the wheel, mechanism superposition and graph theory...
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