scholarly journals Development of a Transformable Mobile Robot with a Variable Wheel Diameter

2007 ◽  
Vol 19 (3) ◽  
pp. 252-257 ◽  
Author(s):  
Keiji Nagatani ◽  
◽  
Mitsuhiro Kuze ◽  
Kazuya Yoshida ◽  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Natural Disaster ◽  
Geometric Analysis ◽  
Search And Rescue ◽  
Compact Form ◽  
Robotic Technology ◽  
Trade Off ◽  
Step Climbing ◽  
Expanded Form

A demand of search and rescue operations using robotic technology increases to mitigate a natural disaster. In searching tasks with mobile robots, particularly in debris-covered environment, there is a trade-off between high-traversability on bumpy surfaces (likely to large robots) and exploration in limited areas (likely to small robots). With this in mind, we developed a small transformable mobile robot that uses a variable wheel diameter and stabilizer length. In its most compact form, the robot is deployable in limited areas and, in its fully expanded form, it traverses relatively large obstacles by expanding its wheel diameter. In this paper, development is detailed in the former sections, and geometric analysis and experiment of its step-climbing capabilities is introduced in the latter sections.

The Joint Interface of RT Components for Mobile Robots: The Activity Report Inform the Mobile Robot Working Group of the NEDO Intelligent RT Software Project

2010 ◽  
Vol 22 (6) ◽  
pp. 767-776 ◽  
Author(s):  
Masaharu Shimizu ◽  
◽  
Nobuyuki Kita ◽  
Toshihisa Saito ◽  
Eijiro Takeuchi ◽  
...  
Keyword(s):  
Research And Development ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Working Group ◽  
Joint Interface ◽  
Software Project ◽  
Robotic Technology ◽  
Description Language ◽  
Unique Representation ◽  
Activity Report

RT-middleware enables an interface between RT components by means of interface description language IDL, but it does not prescribe any specific format. If a unique representation format is used, it leads to a reduction in the reusability of a Robotic Technology Component (RTC). A working group of three research bodies engaged in the research and development of mobile robots was organized in the NEDO Intelligent RT Software Project, and this working group is involved in activities aimed at the jointing of RTCs for mobile robots. This paper describes specific this working group’s attempts enhance the sustainability and reusability of common RT components for mobile robots by achieving the jointing of RTCs for mobile robots.

Multiple Mobile Robot Exploration and Patrol Strategy Using a Self-Organizing Planner Based on a Reaction-Diffusion Equation on a Graph

2008 ◽  
Vol 20 (1) ◽  
pp. 24-37 ◽  
Author(s):  
Chomchana Trevai ◽  
◽  
Norisuke Fujii ◽  
Jun Ota ◽  
Tamio Arai
Keyword(s):  
Diffusion Equation ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Reaction Diffusion ◽  
Environmental Information ◽  
Search And Rescue ◽  
Drastic Change ◽  
Reaction Diffusion Equation ◽  
Map Building ◽  
Multiple Mobile Robots

In this paper, we propose a search and surveillance with mobile robots to collect information while minimizing repeated coverage to maximize efficiency. The problem of search and surveillance is defined as one having a mobile robot or covering a working area with sensor footprints. The problem is applicable to tasks such as floor cleaning, map building, surveillance, security patrols, and search and rescue operations. We use a reaction-diffusion equation on a graph (RDEG), we make and remake plans online base on incoming environmental information. The strategy is applicable to patrolling tasks after an environment has been completely explorated. Tasks are allocated to multiple mobile robots, among which a temporary leader, i.e., the robot detecting a drastic change in the environment, plans a strategy for other mobile robots on the team. Sensing and positioning data for each robot is broadcast and shared among robots. Simulation in different scenarios using one to three robots demonstrated the feasibility of increasing the number of robots on a team.

Mechanical Design of VmaxCarrier2: Omnidirectional Mobile Robot with Function of Step-Climbing

2005 ◽  
Vol 17 (2) ◽  
pp. 198-207 ◽  
Author(s):  
Kenjiro Tadakuma ◽  
◽  
Riichiro Tadakuma ◽  
Shigeo Hirose ◽  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Mechanical Design ◽  
Pneumatic System ◽  
Pneumatic Actuator ◽  
Omnidirectional Mobile Robot ◽  
Transport Vehicle ◽  
Step Climbing

“VmaxCarrier2” is an omnidirectional mobile robot with step-climbing capability, usable as a compact, quiet, durable transport vehicle in cluttered, cramped environments. We have developed several kinds of omnidirectional mobile robots for situations where movement must be possible in any direction, such as “VUTON [1]” and “VmaxCarrier [2, 3].” To construct an omnidirectional mobile robot with a greatly improved capability to climb steps, we developed the Omni-Disc2, a Bent Pneumatic Actuator, and a pneumatic system. These novel components were constructed into a prototype, and through evaluation experiments we have confirmed improved step climbing capability of VmaxCarrier2.

Analysis of Articulated Mobile Robots for the Urban Search and Rescue

2013 ◽  
Vol 303-306 ◽  
pp. 1641-1646 ◽  
Author(s):  
Hong Wei Xiang ◽  
Chang Zheng Chen ◽  
Chang Long Ye
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
High Performance ◽  
Search And Rescue ◽  
Complex Environment ◽  
Urban Search And Rescue ◽  
Environment Adaptation ◽  
Articulated Robots ◽  
High Flexibility ◽  
Better Than

Articulated structure of mobile robot presents high flexibility on the environment adaptation. It has been widely used on the mobile robot to get through rough terrain. This class of robots named as articulated mobile robots can move in hard condition with high stability and environment adaptability. In order to satisfy the requirement of Urban Search and Rescue (USAR), a series of articulated mobile robots are analyzed. The performance of articulated mobile robots is analyzed for get an appropriate robot for USAR. Two snake-like robots named Perambulator I and II are analyzed. Based on the structure of Perambulator II, the articulated mobile robot Ameba II are presented based on track drive mechanism. Ameba II has high performance on mobility and adaptability in complex environment. The comparisons among of some typical articulated robots are given based on mobility and environment adaptation. The experimental results of both Perambulator II and Ameba II show that the Ameba II mobile robot is a better than the snake-like robot Perambulator II on the urban search and rescue applications.

scholarly journals Contributions to the development of search and rescue mobile robots

2021 ◽  
Vol 343 ◽  
pp. 08016
Author(s):  
Marton Gyarmati ◽  
Mihai Olimpiu Tătar ◽  
Francisc Kadar
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Lessons Learned ◽  
Search And Rescue ◽  
Fourth Section ◽  
The Third ◽  
Locomotion System ◽  
Physical Experiments ◽  
Hybrid Locomotion ◽  
And Control

In this paper the authors present contributions to the development of search and rescue mobile robots. The first part of the paper describes the characteristics of search and rescue field. In the second part the authors presented the development and construction of an experimental prototype focusing on the locomotion systems for the search and rescue field and the results of the physical experiments done and the design and development of a proposed search and rescue mobile robot based on the lessons learned from the experiments. The third part contains the operation and control of the robot. The fourth section presents the simulation of the hybrid locomotion system of the proposed search and rescue mobile robot. The last part of the paper contains the development directions and conclusions.

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.

Robot navigation: implications from search strategies in exploring crayfish

Robotica ◽  
2009 ◽  
Vol 28 (3) ◽  
pp. 465-475 ◽  
Author(s):  
Edith Heußlein ◽  
Blair W. Patullo ◽  
David L. Macmillan
Keyword(s):  
Mobile Robots ◽  
Computer Model ◽  
Sensory Input ◽  
Robot Navigation ◽  
Search Strategies ◽  
Search And Rescue ◽  
Autonomous Mobile Robots ◽  
Biological Knowledge ◽  
Baseline Algorithm ◽  
Navigation Strategies

SUMMARYBiomimetic applications play an important role in informing the field of robotics. One aspect is navigation – a skill automobile robots require to perform useful tasks. A sub-area of this is search strategies, e.g. for search and rescue, demining, exploring surfaces of other planets or as a default strategy when other navigation mechanisms fail. Despite that, only a few approaches have been made to transfer biological knowledge of search mechanisms on surfaces along the ground into biomimetic applications. To provide insight for robot navigation strategies, this study describes the paths a crayfish used to explore terrain. We tracked movement when different sets of sensory input were available. We then tested this algorithm with a computer model crayfish and concluded that the movement of C. destructor has a specialised walking strategy that could provide a suitable baseline algorithm for autonomous mobile robots during navigation.

Vision for mobile robots

1992 ◽  
Vol 337 (1281) ◽  
pp. 341-350 ◽  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Structure From Motion ◽  
Optic Flow ◽  
Image Sequences ◽  
Additional Constraint ◽  
Feature Points ◽  
Scene Structure ◽  
Corner Points ◽  
Edge Points

Localized feature points, particularly corners, can be computed rapidly and reliably in images, and they are stable over image sequences. Corner points provide more constraint than edge points, and this additional constraint can be propagated effectively from corners along edges. Implemented algorithms are described to compute optic flow and to determine scene structure for a mobile robot using stereo or structure from motion. It is argued that a mobile robot may not need to compute depth explicitly in order to navigate effectively.

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