Improved ranging accuracy is obtained by the development of a novel ultrasonic sensor ranging algorithm, unlike the conventional ranging algorithm, which considers the divergence angle and the incidence angle of the ultrasonic sensor synchronously. An ultrasonic sensor scanning method is developed based on this algorithm for the recognition of an inclined plate and to obtain the localization of...

Abstract In response to the demand for automated item handling, this paper proposes an omnidirectional wheeled handling robot. Firstly, determine that its mobile platform is based on design of Mecanum wheel, which can move safely and efficiently. Secondly, according common object shapes, a single-side opening closing insertion rack clamping mechanism proposed. Thirdly, in order meet needs trans...

This paper is devoted to design and implement a non-holonomic wheeled mobile robot that possesses dynamic object-tracking capability by using real-time image processing. Two motion control laws are proposed using Lyapunov’s direct method and computed-torque method. Simulation results illustrate the effectiveness of the developed schemes. The overall experimental setup of the mobile robot develo...

In this paper, the simple geometric kinematics of a three-wheeled holonomic mobile robot is proposed. Wheel architecture is developed for the holonomic mobile platform in order to provide omni-directional motions by three individually driven and steered wheels. Three types of basic motions are proposed for the path generation of the developed mobile robot. All paths of the mobile robot can be a...

The study of human-robot interaction (HRI) has received increasing research attention for robot navigation in pedestrian crowds. In this paper, we present empirical study of pedestrian-robot interaction in an uni-directional exit corridor. We deploy a mobile robot moving in a direction perpendicular to that of the pedestrian flow, and install a pedestrian motion tracking system to record the co...

Recent image-based robotic systems use predicted future state images to control robots. Therefore, the prediction accuracy of image affects performance robot. To predict images, most previous studies assume that camera captures entire scene and environment is static. However, in real robot applications, these assumptions do not always hold. For example, if a attached mobile robot, its view chan...

This paper presents the results of a project to develop an omni-directional robotic system at NASA Langley’s Robotics and Intelligent Machines Lab. The robot, named Mobius, was created as part of an investigation into omni-directional motion (using four Mecanum wheels) and fuzzy-logic control. The robot uses a highlevel processor running Linux to connect to wireless networks, process user-input...

This paper addresses the issue of development of a three wheel, four wheels and eight wheel Omni directional mobile robot. The Omni directional wheel is used in this research consists of 8 rollers made from synthetic rubber coated polypropylene rollers. All Omni wheel are independently powered using 3, 4 and 8 units of precision gear DC motors and the wheel/ motors assemblies where mounted dire...

robot to mass (with friction) Force in, velocity out causality Ewoud Vos 6 Mass Impedance Legged robot controller Fig. 1: Abstraction of a legged robot to an omni-directional moving mass that can then, for instance, be controlled by an impedance controller. Fig. 1. This scheme requires a gait controller that ensures that the legs move to support the motion of the robot. The gait generator as pr...

Recent research projects have demonstrated that it is possible to make robots move in formation. The approaches di er by the various assumptions about what can be perceived and communicated by the robots, the strategies used to make the robots move in formation, the ability to deal with obstacle and to switch formations. After suggesting criteria to characterize problems associated with robot f...