As a result of the increase in robots in various fields, the mechanical stability of specific robots has become an important subject of research. This study is concerned with the development of a two-wheeled inverted pendulum robot that can be applied to an intelligent, mobile home robot. This kind of robotic mechanism has an innately clumsy motion for stabilizing the robot’s body posture. To a...

Mobile manipulators have been given extensive attention in recent years since they have many applications such as materials transport and service for disabled persons. A mobile modular manipulator is normally composed of an m-wheeled mobile platform and an n-degree-of-freedom (DOF) onboard modular manipulator. This combination extends the workspace of the entire robot dramatically. Building up ...

This paper presents a new motion planning algorithm for wheeled mobile robots in presence of known static obstacles, especially well-suited for high velocity situations. It takes into account several conditions traditionally attached to smooth path planning, i.e. paths with continuous derivative and upper-bounded curvature. It makes use of a global path planner which exploits polynomial G curve...

This paper considers the distributed formation control of multiple nonholonomic wheeled mobile robots with a leader. Distributed tracking control laws are proposed with the aid of results of cascade systems such that the centroid of the states of a group of mobile robot exponentially tracks the leader. Simulation results show the effectiveness of the proposed algorithms.

Transportation of large objects or their manipulation in hazardous environments are tasks where the utilization of groups of mobile robots working in a cooperative fashion can be of great advantage. To execute such tasks, a multirobot formation control framework is necessary in order to coordinate the motions of the robots in the group. In this article, a particular formation control approach c...

Corresponding Author: Azza El-Sayed Bayoumi Ibrahim Department of Computers and Systems, Electronics Research Institute, Giza, Egypt Email: [email protected] Abstract: This paper introduces and discusses a control strategy for nonholonomic wheeled mobile robots. The models of the robots include the kinematic and dynamic equations of motion. Trajectory tracking control problem of parallel wheeled ...

We present an open-loop optimal control approach to treat the optimal trajectory planning problem for nonholonomic wheeled mobile robots in the presence of kinematics and dynamics of both wheels and manipulators. This method is based on the Pontryagin's minimum principle that by providing a two point boundary value problem is solved the problem. The specific problem considered is that controlli...

Two-wheeled robots are popular in transportation applications because of their high maneuverability. In this research, the oscillation attenuation performance control moment gyroscope (CMG) for two-wheeled robot was studied. The stored kinetic energy a CMG can offer weight and volume saving compared to conventional vibration absorbers. This is also more reactionless than other absorbers by tran...

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...

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...