We propose a semi-autonomous teleoperation control framework for wheeled mobile robots with nonholonomic constraints and second-order Lagrangian dynamics over the Internet. The proposed control architecture consists of the two control-loops: 1) local autonomous formation control, which, residing in the common workspace of the robots, ensures rigid formationkeeping among the robots regardless of...

Robotics researchers have studied the stability maintenance requirements of bipedal robots since they are inherently unstable. An accurate postural stability measure is required to monitor their dynamic equilibrium conditions. In this article, the novel Moment-Height Stability (MHS) measure, which has previously been developed for monitoring the postural stability of wheeled mobile robots, is d...

For their inherent stability and simplicity, wheeled robots are very common in robotics applications – but a major drawback of wheeled robots is their inability to navigate over large obstacles or steps without assistance. Active systems that have been designed for use on wheeled robots to lift the robot over a step – such as USU‟s T3 and Virginia Tech‟s IMPASS – are effective, but are limited ...

Mobile robot, especially wheeled mobile robot, with its simple mechanical structure and inherent agility, has attracted significant attentions for dynamic environment applications in the last two decades (Pin et al. 1994 and Purwin 2006). A general mobile robot Guidance, Navigation and Control (GNC) system is illustrated in the following figure. The main function of guidance system is to genera...

Work in simultaneous localisation and map-building (“SLAM”) for mobile robots has focused on the simplified case in which a robot is considered to move in two dimensions on a ground plane. While this is often a good approximation, a large number of real-world applications require robots to move around terrain which has significant slopes and undulations, and it is desirable that these robots to...

This chapter presents recent mechatronics developments to create original terrestrial mobile robots capable of crossing obstacles and maintaining their stability on irregular grounds. Obstacle crossing is both considered at low and high speeds. The developed robots use wheeled propulsion, efficient on smooth grounds, and improve performance on irregular grounds with additional mobilities, bring...

Obstacle–Avoidance robots have become an essential field of study in recent years. This paper analyzes two cases that extend reactive systems focused on obstacle detection and its avoidance. The scenarios explored get data from their environments through sensors generate information for the models based artificial intelligence to obtain a decision. main contribution is discussion aspects allow ...