Aiming at the difficulties in motion control and performance analysis of hexapod robot, stm32 embedded processor is used to drive 18-channel steering gear board robot's motion. CAM Shift algorithm designed track centroid target moving robot calculate speed. The gait experiment straight line were carried out on self-developed prototype. results show that design integrates machine vision tracking...

In this paper we present an active exploration strategy for a mobile robot navigating in 3D. The aim is to control a moving robot that autonomously builds a visual feature map while at the same time optimises its localisation in this map. The technique chooses the most appropriate commands maximising the information gain between prior states and measurements, while performing 6DOF bearingonly S...

For centuries, the idea of the robot (or automota as it was generally known) has always been intriguing. The possibility of bringing an artificial device created by man to “life” continues to drive the imagination, from films and novels, to engineering and scientific laboratories. Core to the original coining of the term “robot” (from Karl Capek’s 1923 play “Rossum’s Universal Robots”) is a str...

Although various robot behaviour learning methods have been available for some time they generally are too slow to be of much practical use. This paper provides a brief introduction to a novel robot behaviour learning method called Trajectory Velocity Learning and provides some details on implementing Trajectory Velocity Learning on sonar robots with differential drive wheels. The main advantag...

In this article, we test a new control algorithm with non–linear structure for the position control problem of robot manipulators. We have demonstrated by taking into account the full nonlinear and multivariable nature of the robot dynamics, that the overall closed–loop system is globally asymptotically stable through the Lyapunov’s direct method together with LaSalle invariance principle. Expe...

This paper presents a design of a versatile tracked inspection mobile robot with an adjustable drive positioning system equipped with a drilling module for space and terrestrial applications. The robot is intended to operate on open terrain and in enclosed space. Track position adaptation mechanism enables the robot to work on uneven surfaces. A concept of utilization of a lightweight core dril...

Positioning of mobile robots basically calculated using odometry information. Odometry from the wheel’s encoder is mostly used for simple and inexpensive implementation for determining the relative localization of a mobile robot. This paper deals with the estimation of better relative localization of a two wheeled differential drive robot by means of odometry by considering the influence of par...