For their inherent stability and simple dynamics of motion, wheeled robots are very common in robotics applications. Many highly complex robots are being developed in research laboratories, but wheeled robots remain the most used robot in real-world situations. One of the most significant downfalls of wheeled robots is their inability to navigate over large obstacles or steps without assistance...

This paper presents analytical and experimental results of an investigation of joint actuators and their suitability for a particular class of complex mechanisms: serpentine robots. In practice, serpentine robots usually comprise of multiple segments connected by joints. Some serpentine robots provide legged, wheeled, or tracked propulsion, and, in addition, actuation for the joints. We compare...

Recently, robots have been used in many applications including industry and human ordinary life. Robots can make the human life easier by doing the dangerous works such as working in a toxic environment or by doing the hard works such as carrying heavy objects. In addition, robots can add more precision and repeatability in many tasks such as welding and assembly tasks. Human assistant robot (H...

A GA-based fuzzy controller design method is proposed for a two-wheeled mobile robot to independently control two velocities of its left-wheeled motor and right-wheeled motor so that the controlled robot can move fast and efficiently to the desired position. First, the kinematics model of the considered two-wheeled robot is described and a 4-input-and-2-output motion fuzzy control structure wit...

Application of wheeled mobile robots have gradually progressed from the confines of structured indoor environments to rough outdoor terrains. Material transport and exploration are some of the few areas where wheeled robots are required to navigate over uneven terrains. Stable and efficient navigation of wheeled robots over uneven terrains require a framework which can correctly ascertain the s...

Nonholonomic wheeled mobile robots are often required to implement algorithms designed for holonomic kinematic systems. This creates a velocity tracking problem for the actual wheeled mobile robot. In this paper, we investigate the issue of tracking the desired velocity in the least amount of time, for a differential drive nonholonomic wheeled mobile robot. If the desired velocity is a constant...