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Kinematic models for skid-steer vehicles based on the locations of instantaneous centers of rotation (ICRs) of treads have been useful for motion control and dead reckoning. These models have typically assumed constant track ICRs because actual ICRs remain in bounded regions. However, this assumption neglects tread ICR variations during motion caused by dynamics. This paper analyzes the effect of...
To improve the mobility of locomotive devices on loose, sandy terrain, protrusions or convex patterns called lugs (i.e., grousers) are attached to the surface of a locomotive modulus. Following our previous study, in which the effects of angular speed, lug sinkage length, and soil cumulative deformation on lug-soil interaction forces during the fixed-axis rotational motion were experimentally confirmed,...
Collision avoidance subject to operator's intention is needed for power-assisted omni-directional mobile robots. In order to realize collision avoidance on operator's initiative, the system which makes the operator notice the existence of an obstacle is necessary. In this paper, existence of the obstacle is notified through a change in operation feeling by adjusting viscosity coefficients of the power-assist...
A robot with two independent driving wheels is used popularly as a service robot. Therefore, there is a lot of research on the autonomous locomotion. The robot with two independent driving wheels has a nonholonomic constraint in its model, so that it needs a specific control method when controlling it. In this research, we use an invariant manifold for solving such a nonholonomic constraint. The controller...
This paper discusses how to apply virtual prototype technology to analyzing driving mechanics of the patrol robot for belt conveyor. Virtual prototyping model has been established for inspection robot, and simulation experiments has been completed in planar motion and climbing movement simulation. By analyzing the simulation results, Wheel-rail inspection robot has good driving characteristics in...
A fault can occur any time during mobile robots operation and this may cause human injuries. To ensure the safety and the reliability of mobile robots, fault detection and identification (FDI) are necessary to be addressed. The faults in this study are defined as situations that the mobile robots collide with obstacles or the obstacle interferes mobile robot motion immediately. The objectives of this...
The traditional artificial potential field method is suitable for stationary environment. In practical application, mobile robot is in a dynamic environment where the target and the obstacles are moving. For the dynamic environment, the relative position and velocity of the moving target with respect to the mobile robot and the mobile robot with respect to the moving obstacles are taken into account...
In this paper, the Newton-Euler method is used to model the two-wheeled self-balancing robot, then the model is linearized and decoupled. The LQR optimal quadratic model is used to simulate the model, and the influence of Q and R on the system state is analyzed. Combined with the simulation, the algorithm is written to the controller for the actual control of the robot, and the debugging method is...
Intelligent Wheelchair Bed (IWB) is an important direction. And it is also one of the most active research direction in the robot field. In this work, the obstacle avoidance algorithm based on the Artificial Potential Field (APF) using ultrasonic sensors is proposed and realized in order to achieve the real-time and continuing obstacle avoidance for the IWB. The IWB can keep on detecting the environment...
For human-centered automation, it is a given fact that human safety is completely ensured. In addition, both of the humans and robots must perform given tasks as efficiently as possible in terms of productivity. For this issue, human-robot interaction in multi-robot systems is a challenge. Therefore, this paper presents an interactive formation by multiple mobile robots for guiding humans. In the...
Some popular potential field methods to manifest circular formation and collision avoidance are investigated in this paper. By balancing potential force of overall agents in the environment, parameters for attractive repulsive potential field can be determined, especially in free obstacle environment. Furthermore, in the presence of static obstacle in the setting, the other parameters for attractive...
Precision reducer is one of the key parts of an industrial robot, which generally incorporates two-stage cycloidal planetary drive. The theoretical engagement of cycloidal wheel and pin is a gapless engagement, but in practice, there is a gap between the cycloidal wheel and the pins due to manufacturing errors. Most of the previous research on the gap only involves the impact on the transmission accuracy,...
This paper investigates a novel approach for transporting an elastic plate using a group of small swarm mobile robots. A formation of omnidirectional mobile robots transports a plate through an unknown environment purely by normal and friction forces between the robots and the plate. The scheme includes the calculation of normal forces by solving a linear complementary problem and the formation control...
This paper presents the design of a novel dynamic kinesthetic boundary (DKB) for haptic teleoperation of unicycle type ground mobile robots. The kinematics of unicycle type vehicles impose significant challenges for applying DKB in teleoperation of such vehicles, where the DKB was originally proposed for teleoperation of Vertical Taking-Off and Landing (VTOL) aerial robots. Modifications to DKB is...
Hemiplegia patients have complete paralysis of half their body, and encounter many challenges in living an independent life. Rehabilitation of the lower body is more important than that of the upper body for independent living; thus, recovering upper body functions of their paralyzed side is not enough. Rehabilitation robots may be used to assist training without therapists. In this study, a small...
This paper proposes an omni-directional mobile base utilizing spherical robots as its wheels. In particular, the mobile base can move in an omni-directional manner by controlling translational and rotational motion of the spherical robots. However, in practice, unnecessary rotation of the spherical robots may occur due to the presence of friction and individually controlled wheel's-direction. To overcome...
In this paper, we develop a zero-moment-point and friction force calculation framework for wheeled mobile robots on uneven terrain to evaluate roll-over and slippage tendency of the given trajectory. The proposed framework using dynamic constraints and passive decomposition has advantages of low computations and implementation cost. Simulation results using CarSim is provided to analyze the performance...
A rocket-propelled miniature robot is capable to explore sites that planetary rovers cannot reach with efficiency in locomotion distance per mass. The technical difficulty is the significant variance in its flight distance because of two factors: sensitivity of error in the center of gravity with respect to the thrust axis, and solid rocket engines deviance in thrusting force. To overcome the issue,...
In this paper a nonlinear control synthesis for a mixed conventional/braking actuation mobile robot (MAMR) is presented. The MAMR is thought to be one of the possible solutions to tackle the common drawbacks of conventional mobile robots such as complexity, weight, and cost. This paper proposes a sliding mode control approach to control the parking of the MAMR along the x axis from any initial position...
This paper describes visual route following for a cliff-climbing, tethered mobile robot for the purpose of autonomously traversing extreme terrain in the presence of obstacles. When the robot's tether contacts an obstacle, an intermediate anchor is formed. In order to detach from intermediate anchors and avoid entanglement, the robot must backtrack along its outgoing trajectory. We use the Visual...
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