Buckybot: A Robot Based on the Geometry of a Truncated Icosahedron

2014 ◽  
Author(s):  
Michael D. M. Kutzer ◽  
Christopher Y. Brown ◽  
Gregory S. Chirikjian ◽  
Mehran Armand
Keyword(s):  
Mobile Robot ◽  
Trajectory Planning ◽  
Mobile Platform ◽  
Control Algorithms ◽  
Level Control ◽  
Soccer Ball ◽  
Low Level ◽  
Symmetric Geometry

This paper introduces Buckybot, a novel mobile platform, and investigates its kinematics and preliminary control algorithms. Buckybot is a ground-based platform whose geometry is based on a truncated icosahedron, i.e. a soccer ball with flattened sides. The platform has 20 passive hexagonal faces on which it can stably rest, and 12 rounded pentagonal faces which can be extended linearly to tilt Buckybot. The symmetric geometry of the robot makes it operational in any configuration which is ideal for a variety of deployment scenarios including throwing or dropping. Buckybot currently locomotes using a semi-static tipping gait to move between adjacent hexagonal faces. In this work, we present the design and low-level control of the Buckybot platform, explore the kinematics associated with Buckybot’s method of locomotion, experimentally characterize tipping, and investigate trajectory planning for this new mobile robot. Results demonstrate effective trajectory planning accounting for plan uncertainty.

Modeling and Robust Low Level Control of an Omnidirectional Mobile Robot

2017 ◽  
Vol 139 (4) ◽  
Author(s):  
Ramon Comasolivas ◽  
Joseba Quevedo ◽  
Teresa Escobet ◽  
Antoni Escobet ◽  
Juli Romera
Keyword(s):  
Mobile Robot ◽  
Pi Controller ◽  
Control Technique ◽  
Level Control ◽  
Parameter Uncertainties ◽  
Control Effort ◽  
Friction Forces ◽  
Low Level ◽  
Stability And Control ◽  
And Control

This paper presents the modeling and robust low-level control design of a redundant mobile robot with four omnidirectional wheels, the iSense Robotic (iSRob) platform, that was designed to test safe control algorithms. iSRob is a multivariable nonlinear system subject to parameter uncertainties mainly due to friction forces. A multilinear model is proposed to approximate the behavior of the system, and the parameters of these models are estimated from closed-loop experimental data applying Gauss–Newton techniques. A robust control technique, quantitative feedback theory (QFT), is applied to design a proportional–integral (PI) controller for robust low-level control of the iSRob system, being this the main contribution of the paper. The designed controller is implemented, tested, and compared with a gain-scheduling PI-controller based on pole assignment. The experimental results show that robust stability and control effort margins against system uncertainties are satisfied and demonstrate better performance than the other controllers used for comparison.

scholarly journals MODELING OF THE MANAGEMENT SYSTEM OF A FULL-DRIVE FOUR-WHEEL AGRICULTURAL MOBILE ROBOT

2019 ◽  
Vol 4 (5) ◽  
pp. 147-154
Author(s):  
Т. Круглова ◽  
Tat'yana Kruglova ◽  
А. Власов ◽  
A. Vlasov
Keyword(s):  
Mathematical Model ◽  
Mobile Robot ◽  
High Precision ◽  
Management System ◽  
Mobile Platform ◽  
Control Algorithms ◽  
Modern Trend ◽  
Precision Control ◽  
Differential Drive ◽  
State Trajectory

Widespread robotization is a modern trend in the development of agriculture. Currently, various designs of robots are being actively implemented. They are aimed to replace a human when performing various tasks. Most of these robots are wheeled mobile platform, for which it is necessary to ensure high maneuverability and accuracy of control. This problem can be solved by developing optimal high-precision control algorithms, for the study of which it is advisable to use a mathematical model of a mobile agricultural robot. This article presents the results of modeling the movement of a four-wheel mobile robot with a differential drive that moves across a rectangular field along a “snake state” trajectory that is optimal by speed

An Exponential Decreased Kinematic and PID Low Level Control Schemes for an Omni-Wheeled Mobile Robot

2021 ◽  
Author(s):  
Indrazno Siradjuddin ◽  
Totok Winarno ◽  
Muhammad Khairuddin ◽  
Mas Nurul Achmadiah ◽  
Rendi Pambudi Wicaksono ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Level Control ◽  
Low Level ◽  
Control Schemes

scholarly journals Unified Trajectory Planning Algorithms for Autonomous Underwater Vehicle Navigation

ISRN Robotics ◽  
2013 ◽  
Vol 2013 ◽  
pp. 1-6 ◽  
Author(s):  
Oren Gal
Keyword(s):  
Path Planning ◽  
Obstacle Avoidance ◽  
Trajectory Planning ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Visibility Graph ◽  
Vehicle Navigation ◽  
Level Control ◽  
Dynamic Constraints ◽  
Low Level

This paper presents two efficient methods for obstacle avoidance and path planning for Autonomous Underwater Vehicle (AUV). These methods take into account the dynamic constraints of the vehicle using advanced simulator of AUV considering low level control and stability effects. We present modified visibility graph local avoidance method and a spiral algorithm for obstacle avoidance. The algorithms were tested in challenged scenarios demonstrating safe trajectory planning.

scholarly journals FUZZY CONTROL OF DIFFERENTIAL DRIVE MOBILE ROBOT FOR MOVING TARGET TRACKING

2017 ◽  
Vol 16 (2) ◽  
pp. 83
Author(s):  
Emina Petrović ◽  
Miloš Simonović ◽  
Vlastimir Nikolić
Keyword(s):  
Mobile Robot ◽  
Moving Objects ◽  
Mobile Robotics ◽  
Position Control ◽  
Hierarchical Control ◽  
Circular Path ◽  
Level Control ◽  
Low Level ◽  
Angular Velocities ◽  
High Level

Tracking of moving objects, including humans has important role in mobile robotics. In this paper, the hierarchical control structure for target/human tracking consisted of high and low level control was presented. The low level subsystem deals with the control of the linear and angular velocities using multivariable PD controller whose parameters are obtained by Particle swarm optimization. The position control of the mobile robot represents the high level control, where we use two fuzzy logic Mamdani controllers for distance and angle control. In order to test the effectiveness of the proposed control scheme a simulation was performed. Two cases, when the mobile robot pursues a target moving along a circular path and when the mobile robot pursues a target moving along a rectangle path, were simulated.

scholarly journals An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip

2021 ◽  
Vol 11 (4) ◽  
pp. 1594 ◽  
Author(s):  
Andrea Botta ◽  
Paride Cavallone ◽  
Luigi Tagliavini ◽  
Luca Carbonari ◽  
Carmen Visconte ◽  
...  
Keyword(s):  
Experimental Data ◽  
Mobile Robot ◽  
Trajectory Planning ◽  
Kinematic Model ◽  
Close Connection ◽  
Wheel Slip ◽  
Robot Architecture ◽  
Experimental Campaign ◽  
Base Concept ◽  
Kinematic Behaviour

In this paper, the effects of wheel slip compensation in trajectory planning for mobile tractor-trailer robot applications are investigated. Firstly, a kinematic model of the proposed robot architecture is marked out, then an experimental campaign is done to identify if it is possible to kinematically compensate trajectories that otherwise would be subject to large lateral slip. Due to the close connection to the experimental data, the results shown are valid only for Epi.q, the prototype that is the main object of this manuscript. Nonetheless, the base concept can be usefully applied to any mobile robot subject to large lateral slip.

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