Wheeled mobile manipulators utilize both the locomotion capabilities of the wheeled platform and manipulation capacity of the arm. While the modelling and control of such systems have previously been studied, most of them have considered robots with rigid suspension and their wheels are subject to pure rolling conditions. To relax the aforementioned limiting assumptions, this research addresses...

The paper focuses on combining the advantages of both omnidirectional vision and structured light in order to obtain panoramic depth information for generating a complete 3D visual model of the surroundings of a mobile robot. The model is completed by mapping the imaged texture onto the objects through the central view point. This process is called single-shot scene reconstruction because a vis...

Compact omnidirectional mobile robots are required to automate transportation of raw materials, products, etc. within an industrial plant. This paper focuses on omni wheel with low vibration and arrangements that contribute compactness. Due its wheels’ configuration, our proposed compact robot may have different sensitivity noise (controller) performance (errors) when following a predetermined ...

We present a colorand shape-based 3D tracking system suited to a large class of vision sensors. The method is, in fact, applicable with any projection model, provided that it is calibrated and the projection function is known. The tracking architecture is based on Particle Filtering methods where each particle represents the 3D state of the object, rather that its state in the image, therefore ...

We are seeking linear projections of supervised highdimensional robot observations and an appropriate environment model that optimize the robot localization task. V~b show that an appropriate risk function to minimize is the conditional entropy of the robot positions given the projected observations. We propose a method of iterative optimization through a probabilistic model based on kernel smo...

The work presented here deals with the trajectory-tracking control of omnidirectional mobile robots using a novel robust technique. aim is to achieve good tracking performance in presence frictional forces and torques, uncertainties, saturated inputs. First, dynamic model robot incorporating motor dynamics torques derived leading higher order system model. Subsequently, cascaded sliding-mode sc...

Odometry is a simple and practical method that provides periodic real-time estimation of the relative displacement mobile robot based on measurement angular rotational speed its wheels. The main disadvantage odometry unbounded accumulation errors, factor reduces accuracy absolute position orientation robot. This paper proposes general procedure to evaluate correct systematic errors human-sized ...