Design and analysis of a multi-mode mobile robot based on Schatz linkages

2022 ◽  
Vol 169 ◽  
pp. 104651
Author(s):  
Shun Yao ◽  
Ran Liu ◽  
Yan-an Yao
Keyword(s):  
Mobile Robot ◽  
Multi Mode

scholarly journals Study on Roller-Walker – Multi-mode Steering Control and Self-Contained Locomotion –

2000 ◽  
Vol 12 (5) ◽  
pp. 559-566 ◽  
Author(s):  
Gen Endo ◽  
◽  
Shigeo Hirose
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Constant Velocity ◽  
Control Method ◽  
Light Weight ◽  
Steering Control ◽  
Rugged Terrain ◽  
Hybrid Function ◽  
And Control ◽  
Multi Mode

We have proposed a new leg-wheel hybrid mobile robot named ""Roller-Walker"". Roller-Walker is a vehicle with a special foot mechanism, which changes to a sole in walking mode and a passive wheel in skating mode. On rugged terrain the vehicle walks in leg mode, and on level or comparatively smooth terrain the vehicle makes wheeled locomotion by roller-skating using the passive wheels. The characteristics of Roller-Walker are: 1) it has a hybrid function but it is light-weight, 2) it has the potential capability to exhibit high terrain adaptability in skating mode if the control method for roller-wolfing is fully investigated in the future. In this paper, the 4 leg trajectory of straight Roller-Walk is optimized in order to achieve maximum constant velocity. Also steering roller-walk control method is proposed. It is obtained by the expansion of the straight roller-walk trajectory theory adding an offset to the swinging motion. This steering method resembles that of a car. The control system was modified into an untethered system, and control experiments were performed. The realization of the steering motion was verified by them.

Design and Experimental Evaluation of a Multi-mode Mobile Robot Based on Eccentric Paddle Mechanism

2021 ◽  
pp. 1-1
Author(s):  
Yi Sun ◽  
Longteng Zhang ◽  
Min Wang ◽  
Jiheng Ding ◽  
Wenchuan Jia ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Experimental Evaluation ◽  
Multi Mode

A next generation mobile robot with multi-mode sense of 3D perception

2015 ◽  
Author(s):  
Parijat Deshpande ◽  
V. Ramu Reddy ◽  
Arindam Saha ◽  
Karthikeyan Vaiapury ◽  
Keshaw Dewangan ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Next Generation ◽  
3D Perception ◽  
Multi Mode

Multi-mode light microscopy of microtubule assembly dynamics and chromosome movement in vivo and In vitro

1996 ◽  
Vol 54 ◽  
pp. 730-731
Author(s):  
E. D. Salmon ◽  
J. C. Waters ◽  
C. Waterman-Storer
Keyword(s):  
Imaging System ◽  
Ccd Camera ◽  
Transmitted Light ◽  
Microtubule Assembly ◽  
Live Cells ◽  
Optical Efficiency ◽  
Multiple Band ◽  
Multi Mode

We have developed a multi-mode digital imaging system which acquires images with a cooled CCD camera (Figure 1). A multiple band pass dichromatic mirror and robotically controlled filter wheels provide wavelength selection for epi-fluorescence. Shutters select illumination either by epi-fluorescence or by transmitted light for phase contrast or DIC. Many of our experiments involve investigations of spindle assembly dynamics and chromosome movements in live cells or unfixed reconstituted preparations in vitro in which photodamage and phototoxicity are major concerns. As a consequence, a major factor in the design was optical efficiency: achieving the highest image quality with the least number of illumination photons. This principle applies to both epi-fluorescence and transmitted light imaging modes. In living cells and extracts, microtubules are visualized using X-rhodamine labeled tubulin. Photoactivation of C2CF-fluorescein labeled tubulin is used to locally mark microtubules in studies of microtubule dynamics and translocation. Chromosomes are labeled with DAPI or Hoechst DNA intercalating dyes.

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