scholarly journals Cooperative Step Climbing Using Connected Wheeled Robots and Evaluation of Remote Operability

2020 ◽  
Author(s):  
Hidetoshi Ikeda ◽  
Natsuko Muranaka ◽  
Keisuke Sato ◽  
Eiji Nakano
Keyword(s):  
Wheeled Robots ◽  
Step Climbing

An Inertially-Actuated Passive Dynamic Step Climbing Wheeled Robot

2009 ◽  
Author(s):  
John Humphreys ◽  
Dennis Hong
Keyword(s):  
Cost Effective ◽  
Major Drawback ◽  
Mass System ◽  
Active Systems ◽  
Wheeled Robots ◽  
Wheeled Robot ◽  
Acceleration And Deceleration ◽  
Mass Spring ◽  
Future Work ◽  
Step Climbing

For their inherent stability and simplicity, wheeled robots are very common in robotics applications — but a major drawback of wheeled robots is their inability to navigate over large obstacles or steps without assistance. Active systems that have been designed for use on wheeled robots to lift the robot over a step — such as USU’s T3 and Virginia Tech’s IMPASS — are effective, but are limited due to the size, cost, and power required for the additional actuators. A novel, inertially actuated, passive dynamic system, excited by the motion of the robot, is introduced to allow a wheeled robot to “pop a wheelie” on each axle and hop over a step. The system investigated here is a sliding mass-spring that shifts forward and backward based on the acceleration of the base robot. By coordinating the acceleration and deceleration of the robot, the front wheels can lift over a step and the rear wheels can be pulled up afterward — both actions being a product of inertial actuation. Key advantages of this system are that the design is simple, cost-effective, and can be adjusted and retrofit to a different wheeled robot in the future with little effort. This paper presents the development of a novel inertially actuated, passive dynamic step climbing wheeled robot. Derivations of the dynamic model of the inertially actuated system are given and a computer simulation and experiments of an implementation of this sliding mass system are presented, followed by conclusions with possibilities for future work.

MeWBots: Mecanum-Wheeled Robots for Collaborative Manipulation in an Obstacle-Clustered Environment Without Communication

2021 ◽  
Vol 102 (1) ◽  
Author(s):  
Aditya Rauniyar ◽  
Hem Chandra Upreti ◽  
Aman Mishra ◽  
Prabhu Sethuramalingam
Keyword(s):  
Wheeled Robots

scholarly journals Simulators in Educational Robotics: A Review

2021 ◽  
Vol 11 (1) ◽  
pp. 11
Author(s):  
Sokratis Tselegkaridis ◽  
Theodosios Sapounidis
Keyword(s):  
Literature Review ◽  
User Interfaces ◽  
Graphical User Interfaces ◽  
Educational Robotics ◽  
Wheeled Robots ◽  
Knowledge And Skills ◽  
Development Platform ◽  
Key Features ◽  
Positive Effect ◽  
And Robotics

Educational robotics (ER) seems to have a positive effect on students and, in many cases, might help them to successfully assimilate knowledge and skills. Thus, this paper focuses on ER and carries out a literature review on educational robotics simulators with Graphical User Interfaces (GUIs). The review searches for relevant papers which were published in the period 2013–2020 and extracted the characteristics of the simulators used. The simulators that we describe in this article cover various robotic technologies, offering students an easy way to engage with virtual robots and robotics mechanisms, such as wheeled robots or drones. Using these simulators, students might cover their educational needs or prepare themselves for educational robotic competitions by working in as realistic as possible conditions without hardware restrictions. In many cases, simulators might reduce the required cost to obtain a robotic system and increase availability. Focusing on educational robotics simulators, this paper presents seventeen simulators emphasizing key features such as: user’s age, robot’s type and programming language, development platform, capabilities, and scope of the simulator.

Research on Optimal Gradient - Climbing Algorithm in Wind Power Generation

2013 ◽  
Vol 385-386 ◽  
pp. 1100-1103 ◽  
Author(s):  
Qiang Zhao ◽  
Chang Cui
Keyword(s):  
Power Generation ◽  
Wind Power ◽  
Search Algorithm ◽  
Buck Converter ◽  
Wind Power Generation ◽  
Generation System ◽  
Load Impedance ◽  
Point Tracking ◽  
Power Generation System ◽  
Step Climbing

Maximum power point tracking for wind power generation system fixed step climbing algorithm prone to miscalculation and oscillation shortcomings. Adaptive improved optimal gradient method is put forward to overcome the shortcomings and optimize the existing fixed step climbing algorithm. By Controlling Buck Converter duty radio rapidly match between wind power generation system and load impedance. The simulation result shows that the anti-interference and convergence of the improved hill-climb search algorithm is better than that of the traditional one.

scholarly journals A Two-Steps Robust Path-Following Controller for Wheeled Robots

1997 ◽  
Vol 30 (20) ◽  
pp. 17-24 ◽  
Author(s):  
T. Hamel ◽  
P. Souères ◽  
D. Meizel
Keyword(s):  
Path Following ◽  
Wheeled Robots

Step-climbing maneuver for transleg in the wheeled mode

2017 ◽  
Author(s):  
Zhong Wei ◽  
Guangming Song ◽  
Huiyu Sun ◽  
Qien Qi ◽  
Shengsong Liu ◽  
...  
Keyword(s):  
Step Climbing
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