scholarly journals Controlling Two-Legged Mobile Robot

2021 ◽  
pp. 106-115
Author(s):  
Nguyen Xuan Hong
Keyword(s):  
Differential Equation ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Robot Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Driving Forces ◽  
Robot Motion ◽  
Kinematic Modeling ◽  
Step Over

Since the appearance of robots, they have brought many benefits, for example: they can work continuously; they can work in harsh and dangerous environments that cannot be accessed by humans. Thanks to their mobility, mobile robots have a wide and flexible working area, especially two-legged mobile robots that can move in bumpy terrains, go up and down stairs or step over obstacles easily. Nowadays, with the increasing development of science, more and more mobile robots are applied and participated in human activities not only in service activities but also in direct coordination with humans. Robot control methods usually come from robot dynamic model and robot motion differential equation, thereby, calculating driving forces based on the deviation of input and output signals to drive motors on joints in order to ensure that robots moves in the desired trajectory. Two-legged mobile robots have a structure of many phases and joints connected together, besides, due to a large number of degrees of freedom, this type of robot is able to operate flexibly and move easily, however, it has a difficulty in dynamic and kinematic modeling, and robot control. Normally, the differential equation of robot motion will have complex quantities and massive formulas. In order to improve the walk of this robot, this study focuses on researching and surveying the problem of kinetics and dynamics and using a control method to control a specific two-legged mobile robot that moves in a cycle of walking.

HOLONOMIC AND OMNIDIRECTIONAL LOCOMOTION SYSTEMS FOR WHEELED MOBILE ROBOTS: A REVIEW

2015 ◽  
Vol 77 (28) ◽  
Author(s):  
M. Juhairi Aziz Safar
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Degrees Of Freedom ◽  
Wheeled Mobile Robot ◽  
Arbitrary Direction ◽  
Current Position ◽  
Wheeled Mobile Robots ◽  
Future Improvement ◽  
Position And Orientation ◽  
Three Degrees Of Freedom

Holonomic and omnidirectional locomotion systems are best known for their capability to maneuver at any arbitrary direction regardless of their current position and orientation with a three degrees of freedom mobility. This paper summarizes the advancement of holonomic and omnidirectional locomotion systems for wheeled mobile robot applications and discuss the issues and challenges for future improvement.

Formulations about Dynamics of Mobile Robots

2010 ◽  
Vol 166-167 ◽  
pp. 309-314 ◽  
Author(s):  
Iuliu Negrean ◽  
Claudiu Schonstein ◽  
Kalman Kacso ◽  
Calin Negrean ◽  
Adina Duca
Keyword(s):  
Kinetic Energy ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Dynamic Control ◽  
Nonholonomic Constraints ◽  
The Other ◽  
Robot Motion ◽  
Mobile Platforms ◽  
Control Functions ◽  
New Concepts

In this paper the dynamics equations for a mobile robot, named PatrolBot, will be developed, using new concepts in advanced mechanics, based on important scientific researches of the main author, concerning the kinetic energy. In keeping the fact that the mathematical models of the mobile platforms are different besides the other robots types, due to nonholonomic constraints, these dynamic control functions, will be computed, according to these restrictions for robot motion.

scholarly journals Corridor navigation robot using Bond graph

2019 ◽  
Author(s):  
Mohammad Reza Bahrami
Keyword(s):  
Mobile Robot ◽  
Robot Control ◽  
Control Method ◽  
Bond Graph ◽  
Ir Sensors ◽  
Mobile Robot Control ◽  
Stationary Obstacles ◽  
Wall Following

In this research we are trying to find a mobile robot control method for corridor navigation and wall following in a partially known environment, when obstacles trajectory is unknown or information about it is incomplete, and the environment consists of stationary obstacles. Gathering information of the robot traveling is based on IR sensors. The aim of the robot is to select avoidance maneuvers to avoid collision with obstacles.

Two-level artificial intelligent system of mobile robot motion planning

2014 ◽  
Vol 10 ◽  
pp. 50-54
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Mobile Robots ◽  
Control Systems ◽  
Intelligent System ◽  
Robot Motion ◽  
Robot Motion Planning ◽  
Vision Systems ◽  
Artificial Intelligent ◽  
Upper Level

We consider a two-level intelligent system for planning the movements of mobile robots, in which the search for the trajectory is carried out on two levels — a rough and precise planning subsystems. Insufficient resolution of vision systems at the upper level is compensated by sensor systems placed on board robots. The proposed approach reduces the resources required on-board control systems (are based on computer or controller) and optimization of traffic routes of all members of the group to achieve group goals.

Develop a Vision Based Auto-Recharging System for Mobile Robots

2010 ◽  
Vol 44-47 ◽  
pp. 1340-1344 ◽  
Author(s):  
Kuo Lan Su ◽  
Yung Chin Lin ◽  
Yi Lin Liao ◽  
J. Hung Guo
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Degrees Of Freedom ◽  
Control Device ◽  
Degree Of Freedom ◽  
Usb Interface ◽  
Compression Spring ◽  
Real Time Image ◽  
Wireless Rf Interface ◽  
Time Image

The article develops a vision based auto-recharging system for mobile robots, and programs a new docking processing to enhance successful rate. The system contains a docking station and a mobile robot. The docking station contains a docking structure, a control device, a charger and a detection device and a wireless RF interface. The mobile robot contains a power detection module (voltage and current), an auto-switch, a wireless RF interface, a control system and a camera. The docking structure is designed with one active degree of freedom and two passive degrees of freedom. The active degree of freedom can move forward to contact the recharging connect points that are arranged in the mobile robot. The two passive degrees of freedom can rotation in the Z-axis and use compression spring moving on various docking condition. In image processing, the mobile robot uses a webcam to capture the real-time image; and transmits the image signal to the computer via USB interface, and uses Otsu algorithm to recognize the position of the docking station. In the experiment results, the system had been successfully guided the mobile robot moving to the docking station using the proposed method.

scholarly journals Intelligent wheeled mobile robot navigation

2010 ◽  
Vol 5 (1-2) ◽  
pp. 258-264
Author(s):  
Gyula Mester
Keyword(s):  
Remote Control ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Wireless Sensor ◽  
Mobile Robot Navigation ◽  
Robot Motion ◽  
The Sun ◽  
Velocity Control ◽  
Unknown Environment ◽  
Navigation Strategy

The paper deals with the wireless sensor-based remote control of mobile robots motion in an unknown environment with obstacles using the Sun SPOT technology and gives the fuzzy velocity control of a mobile robot motion in an unknown environment with obstacles. When the vehicle is moving towards the target and the sensors detect an obstacle, an avoiding strategy and velocity control are necessary. We proposed the wireless sensor-based remote control of mobile robots motion in an unknown environment with obstacles using the Sun SPOT technology and a fuzzy reactive navigation strategy of collision-free motion and velocity control in an unknown environment with obstacles. The simulation results show the effectiveness and the validity of the obstacle avoidance behavior in an unknown environment. The proposed method have been implemented on the miniature mobile robot Khepera® that is equipped with sensors.

Neural Network Compensation Method for Path Tracking Control of a Spherical Mobile Robot

2014 ◽  
Vol 635-637 ◽  
pp. 1325-1328
Author(s):  
Yao Cai ◽  
Feng Gao ◽  
Ze Ning Liu
Keyword(s):  
Neural Network ◽  
Mobile Robot ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Path Tracking ◽  
Dynamics Model ◽  
Compensation Strategy ◽  
Spherical Mobile Robot ◽  
Dynamics Models

This paper presents a neural network compensation strategy for the path tracking control of a spherical mobile robot BHQ-2 including a pendulum with two degrees of freedom. Based on our previous work, we propose a simplified method to decompose the dynamics model of BHQ-2 to be two sub-dynamics models. Applying the fuzzy guidance control method and a neural network compensation strategy, a path tracking controller for robot BHQ-2 is designed.

PD-like controller with impedance for delayed bilateral teleoperation of mobile robots

Robotica ◽  
2015 ◽  
Vol 34 (9) ◽  
pp. 2151-2161 ◽  
Author(s):  
E. Slawiñski ◽  
S. García ◽  
L. Salinas ◽  
V. Mut
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Force Feedback ◽  
Robot Motion ◽  
Time Varying ◽  
Control Parameters ◽  
Bilateral Teleoperation ◽  
Teleoperation System ◽  
Control Scheme ◽  
The Stability

SUMMARYThis paper proposes a control scheme applied to the delayed bilateral teleoperation of mobile robots with force feedback in face of asymmetric and time-varying delays. The scheme is managed by a velocity PD-like control plus impedance and a force feedback based on damping and synchronization error. A fictitious force, depending on the robot motion and its environment, is used to avoid possible collisions. In addition, the stability of the system is analyzed from which simple conditions for the control parameters are established in order to assure stability. Finally, the performance of the delayed teleoperation system is shown through experiments where a human operator drives a mobile robot.

Controlled Maneuverability of an Articulated Tracked Mobile Robot

2010 ◽  
Author(s):  
Patrick Labenda ◽  
Tim Sadek ◽  
Thomas Predki
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Control Strategy ◽  
Degrees Of Freedom ◽  
Articulated Vehicles ◽  
Unstructured Environment ◽  
Translational Degree ◽  
Feedback Control Strategy ◽  
The Individual ◽  
Tracked Mobile Robot

Considerable potentials with regard to mobility in unstructured environment offer actively articulated mobile robots equipped with powered wheels or tracks. These potentials are obvious when dealing with a system’s trafficability and terrainability. However, maneuverability and steerability of articulated mobile robots are challenging. This is due to the fact that these robots represent a form of truck-trailer systems leading to interactions and influences between the individual vehicles resulting in significant problems like e.g. off-tracking with regard to a given path. Further on, when dealing with a mobile robot’s maneuverability there are only few scientific contributions covering articulated vehicles with actively powered trailers using tracks as propulsive elements. The described systems differ significantly with regard to their configuration with respect to the multi-redundant mobile robot in this work. To investigate the maneuverability of articulated tracked mobile robots a demonstrator has been developed. It is built up out of three identical modules which are connected with each other in a rowby means of a rotational and a translational degree-of-freedom. Each module has two tracks which can be powered independently. Overall, the system has got ten degrees-of-freedom whereas six of them are active and four passive. The developed demonstrator has been used for investigations dealing with maneuverability and steerability as well as modularization of the system’s control architecture. The paper summarizes the development of the mobile robot, its feedback control strategy as well as the tests carried out. The achieved results show a satisfying performance with regard to the implemented control strategy and the system’s maneuverability.

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