A practical architecture, using a four-bar-linkage, is cgnsidered for the University of Minnesota direct drive robot [8]. This staticallybalanced direct drive robot has been constructed for stability analysis of the robot in constrained manipulation [5 -7]. As a result of the elimination of the gravity forces (without any counter weights), smaller actuators and consequently smaller amplifiers w...

This paper proposes a vision-based line following controller for a differential-drive mobile robot. First, a kinematic model of the robot suitable for path following applications is derived. A feedback control, which achieves local asymptotic stability of the nonlinear closed-loop system is designed and analysed. A camera model and the perspective point transformations are given. A line detecti...

We present a robot motivational system design framework. The framework represents the underlying (possibly conflicting) goals of the robot as a set of drives, while ensuring comparable drive levels and providing a mechanism for drive priority adaptation during the robot’s lifetime. The resulting drive reward signals are compatible with existing reinforcement learning methods for balancing multi...

A practical architecture, using a four-bar-linkage, is considered for the University of Minnesota direct drive robot [8]. This staticallybalanced ~t drive robot has been constructed for stability analysis of the robot in constrained manipulation [5 -7]. As a result of the elimination of the gravity forces (without any counter weights), smaller actuators and consequently smaller amplifiers were ...

One of the major tasks of autonomous robot navigation elimination of robot errors. These errors are caused by imperfections in the design and mechanical implementation of robots. This paper presents experimental and statistical analysis of wheeled robots. The mobile robots consist of three differential drive robots that tested and moved in given trajectories and then the systematic errors of th...

A differential drive robot is perhaps the simplest type of mobile robot, and the bounded velocity model is perhaps the simplest useful model of the admissible controls. This paper develops the bounded velocity model for diff drive mobile robots, and derives the time-optimal trajectories.