This paper deals with the benefits and drawbacks of hexapods in Wheeled Mobile Driving Simulators. Therefore, a large and a small hexapod are considered and investigated in regard to their potential to reduce power, energy, and workspace demand of a Wheeled Mobile Driving Simulator. This is done by employing the hexapod for representing horizontal acceleration cues. Furthermore, the hexapod may...

In this paper, wheeled mobile robots towing trailers are used as examples of systems which can be converted into extended Goursat normal form. For some con gurations of this class of systems, a prolongation of the Pfa an system is necessary before the Goursat form can be achieved. The advantage of the Goursat form is that once the kinematic constraints are in this normal form, the point-to-poin...

This article presents our current work on studying energy efficient locomotion on crawling snake-like robots. The aim of this work is to use existing biological inspired methods to demonstrate lateral undulation planar gaits for efficiently controlling high-speed motion as a function of the terrain surface. A multilink non-wheeled snake-like robot is being developed for experimentation and anal...

The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It is shown that, for a large class of possible configurations, they can be classified into five types, characterized by generic structures of the model equations. For each type of model the following questions are addressed: (ir)reducibility and (non)holonomy, mobility and controllability, configuration of ...

Whereas numerous methods are used for vision systems embedded on robots, only a few use colored region segmentation mainly because of the processing time. In this paper, we propose a real-time (i.e. video rate) color region segmentation followed by a robust color classification and region merging dedicated to various applications such as RoboCup four-legged league or an industrial conveyor whee...

This paper presents a path planning method considering physical limits for two-wheeled mobile robots (TMRs). A convolution operator is used to generate the center velocity trajectory to travel the distance along predefined Bezier curve while considering the physical limits. The trajectory gained through convolution does not consider the rotating angle of TMR, so we present a transformational me...

This paper proposes a Deterministic Kinodynamic Planning approach (DKP for short) offering the degree of generality of randomized techniques for two wheeled robots, such as RRT, but also guarantees on the computation time. This approach combines a global path planner based on an A∗-like algorithm, and a local motion planner based on spline optimization techniques. Implementation details and com...

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...

Evaluation of mobile robots is a multidimensional problem. There are many performance indices that can be used to compare and evaluate mobile robots. Examples are speed, stability etc. A natural framework for the evaluation of mobile robots is multicriteria evaluation the science of evaluation functions whose output is nonscalar. In this paper we present a methodology for mission oriented mobil...

Robot locomotion has been a major research issue in the last decades. In particular, humanoid robotics has had a major breakthrough. The motivation for this study is that bipedal locomotion is superior to wheeled approaches on real terrain and situations where robots accompany or replace humans. Some examples are, on the development of human assisting device, such as prosthetics, orthotics, and...