ABSTRACT In this paper, a nonlinear controller is designed for a wheeled mobile robot with three omnidirectional wheels. The omnidirectional wheel has an advantage of universal moving directions on a flat surface without changing its pose. The dynamics of the omnidirectional wheel includes rolling and slipping. Three configurations of mobile robots and an input-additive perturbation are conside...

In this paper, we examine the development of a decentralized control framework for a modular system of wheeled mobile manipulators that can team up to cooperatively transport a large common object. Each individually autonomous mobile manipulator consists of a differentially-driven wheeled mobile robot (WMR) with a passive, two-degree-of-freedom, planar, revolute-jointed arm mounted in the plane...

This paper presents a study of energy efficiency and kinematic-based optimal design locomotion pneumatic artificial muscle (PAM)-driven snake-like robot. Although robots have several advantages over wheeled track-wheeled mobile robots, their low energy-locomotion has limited applications in long-range outdoor fields. work continues our previous efforts designing prototyping muscle-driven robot ...

RoboCup competitions were first proposed by Mackworth in 1993. The main goal of this scientific competition is to exploit, improve and integrate the methods and techniques from robotics, machine vision and artificial intelligence (AI) disciplines to create an autonomous team of soccer playing robots. At the time of preparing this chapter, RoboCup is organized in several different leagues includ...

The purpose of this chapter is to introduce, analyze, and compare the models of wheeled mobile robots (WMR) and to present several realizations and commonly encountered designs. The mobility of WMR is discussed on the basis of the kinematic constraints resulting from the pure rolling conditions at the contact points between the wheels and the ground. According to this discussion it is shown tha...

due to their advantages, omni-directional mobile robots have found many applications especially in robotic soccer competitions. however, omni directional navigation system, omni-vision system and kicking mechanism in such mobile robots have not ever been combined. this situation brings the idea of a robot with no head direction into existence, a comprehensive omni directional mobile robot. such...

  Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. However, Omni directional navigation system, Omni-vision system and solenoid kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensi...

This paper proposes a novel hybrid formation control technique for a group of differentially driven wheeled mobile robots in the Leader-Follower framework. In the proposed method, the leader robot of the group plans its path of navigation by an artificial potential field and the follower robots plan their path in order to follow the leader robot by maintaining a particular formation employing t...

Mobile robots are increasingly being developed for highrisk missions in rough terrain situations, such as planetary exploration. Here a rough-terrain control (RTC) methodology is presented that exploits the actuator redundancy found in multi-wheeled mobile robot systems to improve ground traction and reduce power consumption. The methodology “chooses” an optimization criterion based on the loca...