Article
Engineering, Electrical & Electronic
Suwan Bu, Liang Yan, Xiaoshan Gao, Gang Wang, Peiran Zhao, I-Ming Chen
Summary: The objective of this article is to propose a novel spherical robot with a built-in four-wheel omnidirectional mobile platform. The four-wheel structure improves the friction coefficient, reduces slipping motion, increases the velocity augmentation factor, and improves the loading capacity. The article introduces the structure and working principle of the proposed spherical robot, formulates kinematic and dynamic models, analyzes slipping errors, designs a slip observer and motion controller, conducts simulations to validate the slip observer, and develops a research prototype. Experimental investigation shows that the prototype achieves good trajectory tracking performance with the slip observer.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2023)
Article
Multidisciplinary Sciences
Eyad Almasri, Mustafa Kemal Uyguroglu
Summary: The paper derives and verifies a compact mathematical model for a symmetrical annular-shaped omnidirectional wheeled mobile robot, and proposes a new computationally efficient method for improving trajectory planning optimization. The method has been tested in collision-free navigation with path constraints to ensure efficiency and effectiveness.
Article
Robotics
Chuanqi Zheng, Siddharth Sane, Kangneoung Lee, Vishnu Kalyanram, Kiju Lee
Summary: This article introduces a new versatile multiterrain mobile robot called alpha-WaLTR, which has four passively transformable wheels with embedded spring suspension. The robot is capable of traversing various terrains, obstacles, and stairs while maintaining simplicity in control principles. The design of the robot was optimized using multiobjective design optimization and guided by Unity-based simulations. Experiments demonstrated the effective vibration reduction and consistent locomotion capabilities of the robot, and the system-level integration with an embedded control system was also demonstrated.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Chemistry, Analytical
Slawomir Duda, Olaf Dudek, Grzegorz Gembalczyk, Tomasz Machoczek
Summary: This paper describes a test stand for determining the kinematic excitation originating from the contact between a vehicle's wheel and the ground, and includes experimental results considering different wheel orientations.
Article
Robotics
Osman Nuri Sahin, Mehmet Ismet Can Dede
Summary: This study focuses on the application of omnidirectional wheels in the design of AGVs, utilizing the LuGre friction model to describe the tire friction characteristics. Through the constructed test setup, the longitudinal friction characteristics of the omnidirectional wheel were successfully obtained and the model was verified, while also exploring the impact of lateral frictional force on longitudinal motion for the first time.
Article
Chemistry, Multidisciplinary
Monica Ballesta, Luis Paya, Sergio Cebollada, Oscar Reinoso, Francisco Murcia
Summary: In this paper, hierarchical localization of a mobile robot in an indoor environment was achieved using CNN. The experiments showed successful results in both the classification and regression stages.
APPLIED SCIENCES-BASEL
(2021)
Article
Computer Science, Information Systems
Fahad Raza, Wei Zhu, Mitsuhiro Hayashibe
Summary: The self-balancing wheel-legged robot has higher maneuverability and mobility, attracting interest from academia and the commercial sector. This paper focuses on using active arm control to improve the balance stability and robustness of the robot, providing important insights for future applications in real-world environments with human-robot interactions.
Article
Robotics
Seong-Ho Yun, Jaehyun Park, Jiwon Seo, Yong-Jae Kim
Summary: The study introduces a new wheel-leg mobile robot that combines legs and mecanum wheels, providing agile motion and impact absorption capability. The unique design of the robot's mechanical components has been verified through various experiments.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Engineering, Multidisciplinary
Shuo Zhang, Jian-tao Yao, Ying-bin Wang, Zi-sheng Liu, Yun-dou Xu, Yong-sheng Zhao
Summary: An adaptive wheel-legged shape reconfigurable mobile robot, based on a scissor-like mechanism, is proposed for obstacle detecting and surmounting on complex terrain. The robot can dynamically adjust its shape according to the environment, transitioning between wheel and leg shapes. It has stability comparable to a traditional wheel mechanism and obstacle surmounting performance of a leg mechanism, making it suitable for field reconnaissance and exploration missions.
DEFENCE TECHNOLOGY
(2022)
Article
Engineering, Mechanical
Mario E. Herrera-Cordero, Manuel Arias-Montiel, Marco Ceccarelli, Esther Lugo-Gonzalez
Summary: This article introduces an Adams/MATLAB cosimulation technique for evaluating the dynamics and control performance of a single-wheel pendulum robot, validating design solutions. The obtained results show significant performance based on analytical and programming efforts, and open-loop experimental results are presented for validation.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2021)
Article
Chemistry, Analytical
Linfei Hou, Fengyu Zhou, Kiwan Kim, Liang Zhang
Summary: This paper focuses on various factors affecting the energy consumption of Mecanum wheel robots and proposes an energy consumption model, which has been experimentally validated with a 95% accuracy. The results of energy consumption modeling can help robots save energy by enabling rational path and task planning.
Article
Chemistry, Analytical
Jordi Palacin, David Martinez, Elena Rubies, Eduard Clotet
Summary: The design of omnidirectional wheels should focus on minimizing gaps between rollers to reduce vibrations. Heavy omnidirectional mobile robots can use a suspension system to utilize suboptimal wheels effectively, with advantages of lower cost and outdoor operation capabilities. Experimental results show that suboptimal wheels with larger gaps produce comparable vibrations while maintaining traction and improving grip on uneven surfaces.
Article
Computer Science, Information Systems
Eric McCormick, Haoxiang Lang, Clarence W. de Silva
Summary: This paper presents the application of linear graph (LG) theory in the modeling and simulation of a four-wheel skid-steer mobile robotic system. By using LG representation and GA parameter estimation method, a highly accurate simulation and modeling of the system can be achieved.
Article
Engineering, Mechanical
Nicholas Baron, Andrew Philippides, Nicolas Rojas
Summary: This paper introduces a novel dynamically balanced kinematically redundant planar parallel architecture, optimizing the balancing parameters of parallelogram linkages to reduce the mass and inertia of the system. The elimination of shaking forces and moments is confirmed through simulation using the multi-body dynamic simulation software msc adams.
JOURNAL OF MECHANICAL DESIGN
(2021)
Article
Robotics
Wilhelm J. Marais, Stefan B. Williams, Oscar Pizarro
Summary: Kinematically redundant vehicle manipulator systems can utilize continuous configuration space to improve disturbance rejection.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
