Less than half the Earth's landmass is accessible to existing wheeled and tracked vehicles. But people and animals using their legs can go almost anywhere. Our mission at Boston Dynamics is to develop a new breed of rough-terrain robots that capture the mobility, autonomy and speed of living creatures. Such robots will travel in outdoor terrain that is too steep, rutted, rocky, wet, muddy, and ...

In this paper a case study of cooperation of a strongly heterogeneous autonomous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some redundant abilities is presented. By combining strongly heterogeneous robots the diversity of achievable tasks increases as the variety of sensing and motion abilities of the robot system is extended ...

In this paper, the problem of the kinematics and dynamics of two constructional conceptions of a twowheeled mobile robot is considered. The wheeled mobile robot subjected to nonholonomic constraints moves over the inclined plane. Its trajectory consisting of the straight line and the curvilinear path described by the sinusoidal function is analyzed. The kinematic equations for arbitrarily chose...

This paper presents the velocity kinematic modeling of wheeled mobile robots (WMRs) by applying the matrix coordinate transformation to every pairs of WMRs including wheeled pairs which were dealt with ad-hoc manners in the previous methodologies. A wheeled pair is not replaced with a planar pair and its kinematics is formulated together with those of lower pairs, even though there exists 2 DOF...

Robots that can move over rough terrain with active body leveling are now in strong demand. Such a robot can have a variety of uses, such as carrying packages, assisting people who have difficulty in walking, and safety monitoring outdoors. Many robots capable of moving over rough terrain exist as research tools; however, few are suitable for practical use. These robots can be generally classif...

This paper deals with the structure of the kinematic models of wheeled mobile robots (WMR). A wheeled mobile robot here considered as a planer rigid body that rides on an arbitrary number of wheels. In this paper it is shown that, for a large class of possible configurations of wheels, five types of configurations can be done namely i) fixed standard wheels, ii) steerable standard wheels, iii) ...

−− A generic kinematic control, which is directly applicable to any type of wheeled mobile robot, is proposed in this work. Firstly, it is presented the kinematic models of the four common types of wheels (fixed, centered orientable, castor and Swedish) a classification of wheeled mobile robots. Afterwards, it is proposed a kinematic control scheme with three nested loops: dynamic, kinematic an...

We wish to organize movable objects with teams of mobile robots in dynamic, unstructured environments. We describe a distributed heterogeneous system of robots that cooperate to achieve this task. We describe on-line algorithms for pushing, reorienting, \grasping", and placing objects in dynamic, unstruc-tured environments with wheeled robots. We also describe on-line algorithms for \pulling" a...

The single-track two-wheeled (STTW) robot has the advantages of small size and flexibility, it is suitable for traveling in narrow terrains mountains jungles. In this article, a reinforcement learning control method STTW robots proposed driving fast terrain with limited visibility line-of-sight occlusions. scheme integrates path planning, trajectory tracking, balancing single framework. Based o...

Swedish wheeled mobile robots have remarkable mobility properties allowing them to rotate and translate at the same time. Being holonomic systems, their kinematics model results in the possibility of designing separate and independent position and heading trajectory tracking control laws. Nevertheless, if these control laws should be implemented in the presence of unaccounted actuator saturatio...