scholarly journals Dynamic Modelling and Adaptive Traction Control for Mobile Robots

10.5772/4638 ◽  
2005 ◽  
Author(s):  
Abdulgani Albagul ◽  
Wahyudi Martono ◽  
Riza Muhi
Keyword(s):  
Mobile Robots ◽  
Dynamic Modelling ◽  
Traction Control

Omnidirectional locomotion and traction control of the wheel-driven, wall-climbing robot, Cromsci

Robotica ◽  
2011 ◽  
Vol 29 (7) ◽  
pp. 991-1003 ◽  
Author(s):  
D. Schmidt ◽  
C. Hillenbrand ◽  
K. Berns
Keyword(s):  
Mobile Robots ◽  
Negative Pressure ◽  
Control Mechanism ◽  
Robot Navigation ◽  
Climbing Robot ◽  
Dynamic Effects ◽  
Traction Control ◽  
Locomotion System ◽  
Adhesion System ◽  
Cost Efficient

SUMMARYSafe and cost-efficient inspection of large concrete buildings is a great challenge for mobile robots. This paper presents the locomotion system of the climbing robot, Cromsci, which uses three steerable standard wheels and negative pressure adhesion. We will introduce criteria to avoid robot slip and tilt, and methods to enhance stability. One elementary part is the close-loop-controlled adhesion system with seven individual negative pressure chambers to balance out tilt or dynamic effects caused by leaky pressure chambers. The second part is the locomotion control using a special traction control mechanism to enhance robot navigation, which will also be presented here.

A formation and traction control design for multiple mobile robots

2017 ◽  
Vol 15 (3) ◽  
pp. 1287-1301 ◽  
Author(s):  
Hyun-Su Kim ◽  
Jong-Koo Park ◽  
Tae-Yong Kuc ◽  
Nak Yong Ko ◽  
Yong-Seon Moon
Keyword(s):  
Mobile Robots ◽  
Control Design ◽  
Multiple Mobile Robots ◽  
Traction Control
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