Development of a Series of RT-Mover, Which is a Four-Wheel Type of Mobile Platform with an Ability of Negotiating Obstacles

2015 ◽  
Vol 27 (5) ◽  
pp. 587-589
Author(s):  
Shuro Nakajima ◽  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Daily Life ◽  
Mobile Platform ◽  
Rough Terrain ◽  
Personal Mobility ◽  
Leg Motion

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270005/16.jpg"" width=""300"" /> Personal mobility vehicles</div> We have developed the RT-Mover series of mobile robots because of the strong demand for mobile robot platforms for use on rough terrain. They look like ordinary four-wheel vehicles but are mobile enough to operate on targeted rough terrain encountered in daily life. The advantage of this series is that individual wheels negotiate obstacles with their own leg motion mechanisms. </span>

Continuous mobility of mobile robots with a special ability for overcoming driving failure on rough terrain

Robotica ◽  
2016 ◽  
Vol 35 (10) ◽  
pp. 2076-2096
Author(s):  
He Xu ◽  
X. Z. Gao ◽  
Yan Xu ◽  
Kaifeng Wang ◽  
Hongpeng Yu ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Driving Force ◽  
Failure Modes ◽  
Sliding Mode ◽  
Rough Terrain ◽  
Force Analysis ◽  
Uncertain Environments ◽  
Wheeled Mobile Robots ◽  
Robot Configuration

SUMMARYFor wheeled mobile robots moving in rough terrains or uncertain environments, driving failure will be encountered when trafficability failure occurs. Continuous mobility of mobile robots with special ability for overcoming driving failure on rough terrain has rarely been considered. This study was conducted using a four-wheel-steering and four-wheel-driving mobile robot equipped with a binocular visual system. First, quasi-static force analysis is carried out to understand the effects of different driving-failure modes on the mobile robot while moving on rough terrain. Secondly, to make the best of the rest of the driving force, robot configuration transformation is employed to select the optimal configuration that can overcome the driving failure. Thirdly, sliding mode control based on back-stepping is adopted to enable the robot achieve continuous trajectory tracking with visual feedback. Finally, the efficacy of the presented approach is verified by simulations and experiments.

RT-Mover: a rough terrain mobile robot with a simple leg–wheel hybrid mechanism

2011 ◽  
Vol 30 (13) ◽  
pp. 1609-1626 ◽  
Author(s):  
Shuro Nakajima
Keyword(s):  
Mobile Robot ◽  
Mechanical Design ◽  
Design Concept ◽  
Rough Terrain ◽  
Personal Mobility ◽  
Mobility Performance ◽  
Stability And Control ◽  
Horizontal Orientation ◽  
Hybrid Mechanism ◽  
And Control

There is a strong demand in many fields for practical robots, such as a porter robot and a personal mobility robot, that can move over rough terrain while carrying a load horizontally. We have developed a robot, called RT-Mover, which shows adequate mobility performance on targeted types of rough terrain. It has four drivable wheels and two leg-like axles but only five active shafts. A strength of this robot is that it realizes both a leg mode and a wheel mode in a simple mechanism. In this paper, the mechanical design concept is discussed. With an emphasis on minimizing the number of drive shafts, a mechanism is designed for a four-wheeled mobile body that is widely used in practical locomotive machinery. Also, strategies for moving on rough terrain are proposed. The kinematics, stability, and control of RT-Mover are also described in detail. Some typical cases of rough terrain for wheel mode and leg mode are selected, and the robot’s ability of locomotion is assessed through simulations and experiments. In each case, the robot is able to move over rough terrain while maintaining the horizontal orientation of its platform.

scholarly journals Highly passable propulsive device for UGVs on rugged terrain

2018 ◽  
Vol 161 ◽  
pp. 03013 ◽  
Author(s):  
Valery Gradetsky ◽  
Ivan Ermolov ◽  
Maxim Knyazkov ◽  
Boris Lapin ◽  
Eugeny Semenov ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Mobile Robotics ◽  
Technical Solution ◽  
Rough Terrain ◽  
Rugged Terrain ◽  
Functional Purpose ◽  
Different Soils

One of the priority functional tasks of both industrial and mobile robotics is to perform operations for moving payloads in space. Typically, researchers pay attention to control the movement of the robot on different soils. It is necessary to underline the specificity of the movements of mobile robots, the main functional purpose of which is the movement of different objects. Unlike other robot applications there is the fact that transported cargo may have different mass-dimensional characteristics. The payload should be comparable to the mass of the mobile robot. This article addresses the issue of passability on rough terrain for a mobile robot performing the transport task and proposed a technical solution in the field of mechanics of propulsion to improve propelling of the traction wheel of the mobile robot with the ground.

Fuzzy Reasoning in Mobile Robots Control

2010 ◽  
Vol 166-167 ◽  
pp. 191-196
Author(s):  
Adrian Dumitriu
Keyword(s):  
Fuzzy Logic ◽  
Data Integration ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Fuzzy Controller ◽  
Fuzzy Reasoning ◽  
Sensor Data ◽  
Rough Terrain ◽  
Acceleration Sensors ◽  
Mems Technology

The paper presents some author’s experiments carried out within the frame of a research project and destined to endow mobile robot modules with small and simple sensors to support navigation. Range sensors, proximity sensors and acceleration sensors in MEMS technology were used and Fuzzy logic has proved to be an adequate tool for sensor data integration. A Fuzzy controller has been developed and tested on a mobile robot moving on rough terrain.

Development of dual-arm mobile robot platform based on ROS

Cobot ◽  
2022 ◽  
Vol 1 ◽  
pp. 4
Author(s):  
Rui Xu ◽  
Lu Qian ◽  
Xingwei Zhao
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Subsequent Development ◽  
Mobile Platform ◽  
Platform Design ◽  
Practical Applications ◽  
Control Framework ◽  
Increasing Demand ◽  
Application Requirements ◽  
Dual Arm

Background: With the increasing demand of mobile robots in warehousing, logistics and service fields, simple planar motion is difficult to meet the task requirements of complex environment. The combination of mobile robot and cooperative robot is helpful to improve the dexterity of robot movement and expand the application of robots. Methods: Aiming at the application requirements of dual-arm robots and mobile robots in practical applications, this paper designed the hardware of a platform, built a simulation platform based on ROS (Robot Operating System), and designed the actual software control framework. Finally, the feasibility of the platform design was verified by the coupling motion experiment of the two robots. Results:  We have established a simulation of the dual-arm mobile platform in ROS, designed the actual software control framework, and verified the feasibility of the platform design through experiments. Conclusions:  The mobile platform can meet a variety of application requirements and lay the foundation for subsequent development.

Omnidirectional Mobile Platform for Research and Development

2002 ◽  
Vol 14 (2) ◽  
pp. 105-111 ◽  
Author(s):  
Kuniaki Kawabata ◽  
◽  
Tsuyoshi Suzuki ◽  
Hayato Kaetsu ◽  
Hajime Asama
Keyword(s):  
Research And Development ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Mobility ◽  
Mobile Platform ◽  
Driving Mechanism ◽  
Omnidirectional Mobile Robot ◽  
Robotic Soccer ◽  
Omnidirectional Mobile Platform

We detail an omnidirectional mobile platform for research and development (R&D). In 1995, we reported that a special driving mechanism for holonomic omnidirectional mobile robots was designed to enable 3 degree of freedom (DOF) motion control by 3 corresponding actuators decoupled with no redundancy. We constructed a omnidirectional mobile robot prototype with a drive. We took part in a RoboCup tournament as Uttori United with omnidirectional mobile robots: ZEN-450, using our driving mechanism, in 1997, and 2000. ZEN-450 showed high mobility during the tournament However, unpredictable problems occurred because ZEN-450 is not developed for robotic soccer. , We considered improving its hardware as a platform. We report the new platform and test-running results.

3-D Scan Matching for Mobile Robot Localization over Rough Terrain

2019 ◽  
Vol 139 (9) ◽  
pp. 1041-1050
Author(s):  
Hiroyuki Nakagomi ◽  
Yoshihiro Fuse ◽  
Hidehiko Hosaka ◽  
Hironaga Miyamoto ◽  
Takashi Nakamura ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Rough Terrain ◽  
Robot Localization ◽  
Scan Matching ◽  
Mobile Robot Localization

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.

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
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