ABSTRACT In this paper, a nonlinear controller is designed for a wheeled mobile robot with three omnidirectional wheels. The omnidirectional wheel has an advantage of universal moving directions on a flat surface without changing its pose. The dynamics of the omnidirectional wheel includes rolling and slipping. Three configurations of mobile robots and an input-additive perturbation are conside...

In-wheel motors for new energy vehicles are close to the brake, which results in a high ambient temperature. Thus, there is demand cooling systems. This paper designs an oil-spray-cooled system based on flat structural characteristics of in-wheel motor. A computational fluid dynamics method with two-phase volume-of-fluid model applied simulate transient process oil spraying from nozzles onto st...

Abstract In order to improve the adaptability of traditional wheeled robots complex environments, a passive wheel-claw reconfigurable amphibious robot is proposed in this paper. This has strong mobility when moving on ground. scenes, if there are obstacles, it will automatically switch claw mode. By studying motion mechanism reconstruction process, kinematics model under multiple working condit...

The wheel-legged hybrid structure has been utilized by ground mobile platforms in recent years to achieve good mobility on both flat surface and rough terrain. However, many designs of the obstacle-crossing part transformation driving this is highly coupled, which limits its optimal performance aspects. This paper presents a novel robot with rim shape changeable wheels, bi-directional smooth ab...

Here we present a robust method for monocular visual odometry capable of accurate position estimation even when operating in undulating terrain. Our algorithm uses a steering model to separately recover rotation and translation. Robot 3DOF orientation is recovered by minimizing image projection error, while, robot translation is recovered by solving an NP-hard optimization problem through an ap...

Simplified models of limit-cycle walking on flat terrain have provided important insights into the nature of legged locomotion. Real walking robots (and humans), however, do not exhibit true limit cycle dynamics because terrain, even in a carefully designed laboratory setting, is inevitably non-flat. Walking systems on stochastically rough terrain may not satisfy strict conditions for limit-cyc...