Development of Genbu: Active-Wheel Passive-Joint Snake-Like Mobile Robot

2004 ◽  
Vol 16 (3) ◽  
pp. 293-303 ◽  
Author(s):  
Hitoshi Kimura ◽  
◽  
Keisuke Shimizu ◽  
Shigeo Hirose
Keyword(s):  
Mobile Robots ◽  
High Speed ◽  
Vertical Wall ◽  
Detection Algorithm ◽  
Rough Terrain ◽  
Planetary Rovers ◽  
Design Concepts ◽  
Passive Joint ◽  
High Durability ◽  
Skid Steering

Snake-like robots of the Genbu series (Genbu 1,2,3) consist of multiple modules, equipped with active wheels, connected to each other by passive joints. These robots are categorized as Active-Wheel Passive-Joint articulated mobile robots (AW-PJ type). AW-PJ type robots have high-speed mobility and high-durability on rough terrain in spite of several problems, such as stuck condition, due to the passive joints. These are good properties for fire-fighting robots or planetary rovers. Genbu 3, developed in this study, could climb a 280mm vertical wall whereas the diameter of the wheel is 250mm. This paper describes the design concepts and the original mechanisms of Genbu 3. Automatic stuck detection algorithm and stuck avoidance methods are discussed. Para-skid steering is also described. Results of experiments with Genbu 3 are presented and discussed in order to verify these methods.

High-speed hazard avoidance for mobile robots in rough terrain

2004 ◽  
Author(s):  
Matthew J. Spenko ◽  
Karl D. Iagnemma ◽  
Steven Dubowsky
Keyword(s):  
Mobile Robots ◽  
High Speed ◽  
Rough Terrain ◽  
Hazard Avoidance

Hazard avoidance for high-speed mobile robots in rough terrain

2006 ◽  
Vol 23 (5) ◽  
pp. 311-331 ◽  
Author(s):  
Matthew Spenko ◽  
Yoji Kuroda ◽  
Steven Dubowsky ◽  
Karl Iagnemma
Keyword(s):  
Mobile Robots ◽  
High Speed ◽  
Rough Terrain ◽  
Hazard Avoidance

A Fast Obstacle Detection Algorithm for Mobile Robots and Its Application

ROBOT ◽  
2011 ◽  
Vol 33 (2) ◽  
pp. 198-201 ◽  
Author(s):  
Xiaochuan ZHAO ◽  
Peizhi LIU ◽  
Min ZHANG ◽  
Lihui YANG ◽  
Jianchang SHI
Keyword(s):  
Mobile Robots ◽  
Detection Algorithm ◽  
Obstacle Detection

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

2010 ◽  
Vol 7 ◽  
pp. 109-117
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov ◽  
B.S. Yudintsev
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Speed ◽  
Ultrasonic Sensor ◽  
Sensor System ◽  
Motion Control System ◽  
Speed Sensor ◽  
Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

scholarly journals High-Speed Target Detection Algorithm Based on Sparse Fourier Transform

IEEE Access ◽  
2018 ◽  
Vol 6 ◽  
pp. 37828-37836 ◽  
Author(s):  
Cunsuo Pang ◽  
Shengheng Liu ◽  
Yan Han
Keyword(s):  
Fourier Transform ◽  
Target Detection ◽  
High Speed ◽  
Detection Algorithm

Based on the CO2 Gas Shielded Welding Molten Pool Image Edge Detection Algorithm

2013 ◽  
Vol 437 ◽  
pp. 840-844 ◽  
Author(s):  
Xiao Gang Liu ◽  
Bing Zhao
Keyword(s):  
Edge Detection ◽  
Molten Pool ◽  
High Speed ◽  
Vision System ◽  
Detection Algorithm ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Low Pass ◽  
Defect Recognition ◽  
Pool Image

This paper use the passive vision system through high-speed camera collects molten pool images; and then according to the frequency domain characteristics of the weld pool image Butterworth low-pass filter; gradient method for image enhancement obtained after pretreatment. Research Roberts, Sobel, Prewitt, Log, Zerocross, and Canny 6 both traditional differential operator edge detection processing results. Through comparison and analysis of choosing threshold for [0.1, 0. Canny operator can get the ideal molten pool edge character, for subsequent welding molten pool defect recognition provides favorable conditions.

Sign in / Sign up

Export Citation Format

Share Document