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Simplified motion control of a two-axle compliant framed wheeled mobile robot

M.A. Minor, B.W. Albiston, C.L. Schwensen
2006 IEEE Transactions on robotics  
Kinematic models and motion control algorithms for a two-axle compliant frame mobile robot are examined.  ...  Physical limitations and performance metrics (lateral mobility and maneuverability per unit of traction force) are derived to evaluate the models.  ...  INTRODUCTION K INEMATIC models and motion-control algorithms for a two-axle compliant framed wheeled modular mobile robot (CFMMR), Fig. 1 , are the subject of this paper.  ... 
doi:10.1109/tro.2006.875503 fatcat:ppl6qtmmgrdwtej4ixebvaxdi4

The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing System

Jun Qian, Bin Zi, Daoming Wang, Yangang Ma, Dan Zhang
2017 Sensors  
Each modularized wheel was installed on a vertical suspension mechanism, which ensures the moving stability and keeps the distances of four wheels invariable.  ...  The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s17092073 pmid:28891964 pmcid:PMC5620741 fatcat:bb3utpecibfutakk2tagprhvwe

Large-Deformation Analysis and Experimental Validation of a Flexure-Based Mobile Sensor Node

Jiajie Guo, Kok-Meng Lee, Dapeng Zhu, Xiaohua Yi, Yang Wang
2012 IEEE/ASME transactions on mechatronics  
His research interests include structural health monitoring and damage detection, decentralized structural control, smart materials and structures, wireless sensor networks, structural dynamics, and earthquake  ...  He has published one book chapter and over 60 articles in journals and conference proceedings.  ...  new magnetic wall-climbing car as a mobile sensor node for health monitoring and dynamic testing of large civil (ferromagnetic) structures.  ... 
doi:10.1109/tmech.2011.2107579 fatcat:2p554npcnzblbadsdatubrg4iu

${ \mmb{\eta } }^{3}$-Splines for the Smooth Path Generation of Wheeled Mobile Robots

A. Piazzi, C.G. Lo Bianco, M. Romano
2007 IEEE Transactions on robotics  
motion control of wheeled mobile robots.  ...  Index Terms-Curve primitives, dynamic path inversion, geometric continuity, polynomial splines, smooth path generation, wheeled mobile robots. I.  ...  INTRODUCTION Cooperative motion control and sensing for Compliant Framed wheeled Modular Mobile Robots (CFMMR) (Fig. 1) is the focus of this research.  ... 
doi:10.1109/tro.2007.903816 fatcat:wie33redsfe4ti2ocpfvfmfuoe

Survey on robotics and automation technologies for civil infrastructure

Hyun Myung, Yang Wang, Shih-Chung Jessy Kang, XiaoQi Chen
2014 Smart Structures and Systems  
This special issue focuses on state-of-the-art robotics and automation technologies, including construction automation, robotics, instrumentation, monitoring, inspection, control, and rehabilitation for  ...  This special issue is published in an effort to disseminate current advances of various robotics and automation technologies for civil infrastructure and built environment.  ...  Acknowledgments The Guest Editors of this special issue wish to acknowledge the valuable support of the Prof.  ... 
doi:10.12989/sss.2014.13.6.891 fatcat:m3kz72eyqnh4tg4xwlq7sg7lru

An optimal wheel-torque control on a compliant modular robot for wheel-slip minimization

Avinash Siravuru, Suril V. Shah, K. Madhava Krishna
2015 Robotica (Cambridge. Print)  
SUMMARY This paper discusses the development of an optimal wheel-torque controller for a compliant modular robot. The wheel actuators are the only actively controllable elements in this robot.  ...  The robot was tested on four different surfaces and we report an overall average slip reduction of 44% and mean wheel-torque reduction by 16%.  ...  Weight of the trunk (m l g) w w Figure 1 : 1 Snapshots of the a) Compliant Modular Robot and b) the Sectional View of a 2-module CAD Model models of the robot to validate its efficacy.  ... 
doi:10.1017/s0263574715000685 fatcat:3qgehx3pfvg6fbsdtuew7tvkx4

Development of an automated guided vehicle with omnidirectional mobility for transportation of lightweight loads

Kiattisin Kanjanawanishkul, Ruengsak Phoohuengkaeo, Apiwat Kumson, P. Tandon, M. Guo
2015 MATEC Web of Conferences  
Second, model predictive control was used to solve the path following problem of the omnidirectional AGV.  ...  The aim of the paper is to design and to develop a control system as well as a navigation system for an omnidirectional automated guided vehicle (AGV) that can be used to transport materials to the pre-determined  ...  Acknowledgements The authors would like to thank the Faculty of Engineering, Mahasarakham University, Thailand for financial support under the fiscal year 2014 income budget and A.G.  ... 
doi:10.1051/matecconf/20153405003 fatcat:rj7ghjqapvgf5bmgg5soqfiygu

Reconfigurable robots for all-terrain exploration

Paul S. Schenker, Paolo Pirjanian, J. Balaram, K. S. Ali, Ashitey Trebi-Ollennu, Terrance L. Huntsberger, Hrand Aghazarian, Brett A. Kennedy, Eric T. Baumgartner, Karl D. Iagnemma, Adam Rzepniewski, Steven Dubowsky (+5 others)
2000 Sensor Fusion and Decentralized Control in Robotic Systems III  
While significant recent progress has been made in development of mobile robots for planetary surface exploration, there remain major challenges.  ...  accurate "configuration" information; 2) kinematic and dynamical stability analysis of such configurations so as to determine "predicts" for a needed change of control regime (e.g., traction control,  ...  ACKNOWLEDGEMENTS This work was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.  ... 
doi:10.1117/12.403744 fatcat:kjxo5hq3gjdc5pq4nsdzsjwpo4

RoboSmith: Wireless Networked Architecture for Multiagent Robotic System

Dan Floroian, Doru Ursutiu, Laura Floroian, Florin Moldoveanu
2010 International Journal of Online Engineering (iJOE)  
The proposed architecture divides a robot into functional modules such as locomotion, control, sensors, communication, and actuation.  ...  Embedded software with dynamic task uploading and multi-tasking abilities is developed in order to create better interface between both robots and the command center and between the robots.  ...  The base of the robot consists of an aluminum frame, two stepper motors, some gearing, two wheels and associated ball bearings, and the batteries.  ... 
doi:10.3991/ijoe.v6i4.1468 fatcat:ubdiqrqrznaw5bsn3rmdxk6wpy

A collaborative robotic approach to autonomous pallet jack transportation and positioning

Pietro Balatti, Fabio Fusaro, Nicola Villa, Edoardo Lamon, Arash Ajoudani
2020 IEEE Access  
of dynamic uncertainties while grasping and handling of pallet jacks.  ...  Subsequently, the transportation of the pallet jack is achieved through a whole-body impedance controller and a trajectory planner which takes into account the mobility constraints of the robot-pallet  ...  Before retrieving the formulation of the whole-body dynamics of the robot, we make a few assumptions that will simplify the model.  ... 
doi:10.1109/access.2020.3013382 fatcat:xwmdtlvxbzd2tpiyklh45ljohm

Performance comparison of adaptive mechanisms of cleaning module to overcome step-shaped obstacles on façades

Jooyoung Hong, Garam Park, Jiseok Lee, Jongwon Kim, Hwa Soo Kim, TaeWon Seo
2019 IEEE Access  
Various mechanism models have been introduced and their performances have been compared based on dynamic simulation considering obstacle encounters.  ...  In this study, a passive linkage suspension mechanism and tri-star wheels are applied to solve the problems of unclean zones due to failures during overcoming obstacles and the problems through the use  ...  Additionally, there is a modular robot whose compliant components are situated on the joints between the modules [11] .  ... 
doi:10.1109/access.2019.2950689 fatcat:2zmhi47mone3xoi32uhxu4mb5a

Design and Experiments of a Compact Self-Assembling Mobile Modular Robot with Joint Actuation and Onboard Visual-Based Perception

Haiyuan Li, Haoyu Wang, Linlin Cui, Jiake Li, Qi Wei, Jiqiang Xia
2022 Applied Sciences  
a novel compact self-assembling mobile modular robot (SMMRob).  ...  A swarm of mobile robots is combined through mechanical interconnection and joint actuation to achieve a linked or articular configuration.  ...  Acknowledgments: Thanks go to X Lab for their assistance with robot design and discussion. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app12063050 fatcat:yivcaudneva4der3svjgupoc4e

Punyo-1: Soft tactile-sensing upper-body robot for large object manipulation and physical human interaction [article]

Aimee Goncalves, Naveen Kuppuswamy, Andrew Beaulieu, Avinash Uttamchandani, Katherine M. Tsui, Alex Alspach
2022 arXiv   pre-print
The manipulation of large objects and safe operation in the vicinity of humans are key capabilities of a general purpose domestic robotic assistant.  ...  Our results demonstrate the importance of exploiting softness and tactile sensing in contact-rich manipulation strategies, as well as a path forward for whole-body force-controlled interactions with the  ...  ACKNOWLEDGEMENTS Thank you Sam Creasey, Tristan Whiting, Phoebe Horgan, Richard Denitto, Liam Rondon, Adeeb Abbas, and Sean Taylor for engineering, experimental, filming, and paper graphics support.  ... 
arXiv:2111.09354v3 fatcat:a6fiabaz4rbrvegdpz2d7kzn7u

Locomotion Strategies for Amphibious Robots-A Review

Mohammed Rafeeq, Siti Fauziah Toha, Salmiah Ahmad, Mohd Asyraf Razib
2021 IEEE Access  
Wheeled robots have high mobility over these surfaces as compared to other mobile robots [54] . A wheeled robot structure has a set of wheels connected to the main body by linkages and joints.  ...  KINEMATIC AND DYNAMIC MODELS OF AMPHIBIOUS ROBOT Amphibious locomotion is inspired by robust motion abilities of amphibious animals.  ... 
doi:10.1109/access.2021.3057406 fatcat:yjquskqm7fffticy2n6v3hj6ye

From multi-modal tactile signals to a compliant control

Emmanuel Dean-Leon, Florian Bergner, Karinne Ramirez-Amaro, Gordon Cheng
2016 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)  
These generated models are used to control a robot improving and even changing its dynamic behavior.  ...  We validate our framework in a real wheeled humanoid robot, where our presented framework enables a stiff robotic system to be compliant and react to multi-modal tactile events (pre-contacts and contacts  ...  to the robot links, E) Robot parametrization using the multi-modal signals of the skin, F) Parametric modeling (Kinematic and Dynamic) of the robot for control design, and G) Control and command interface  ... 
doi:10.1109/humanoids.2016.7803378 dblp:conf/humanoids/Dean-LeonBRC16 fatcat:h53mbxqvxnhg5f63exkoflf7pu
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