Four-wheel, independently driven skid-steer mobile robots have been widely used in some fields, such as indoor product shipping and outdoor inspection exploration. Traditional robot controllers often use a kinematics controller to obtain the desired speed of each wheel, complete closed-loop control wheel achieve robot’s trajectory tracking control. However, based on may lead chattering spin fro...

In electric vehicles that use in-wheel motors, the right and left traction forces become unbalanced if a motor malfunctions by motor lock or loss of traction, generating yaw moment. Control methods were designed to reduce this effect by stopping the motor output on the opposite side of the same axle. By using a prototype “Eliica” car, the maximum yaw rate and lateral acceleration were compared ...

This paper shows how to control a robot with omnidirectional wheels, using as example robots with four motors, and generalizing to n motors. More than three wheels provide redundancy: many combinations of motors speeds can provide the same Euclidean movement. Since the system is over-determined, we show how to compute a set of consistent and optimal motor forces and speeds using the pseudoinver...

Vehicles in the foreseeable future will be required to transition between autonomous driving (without human involvement) and full human control. During this transition period, the human, who has not been actively engaged in the driving process, must resume the motor control necessary to steer the car. The in-car study presented here demonstrates that when human drivers are presented with a stee...

in this paper, an adaptive rule based controller for an anti-lock regenerative braking system (arbs) of a series hybrid electric bus (sheb) has been proposed. the proposed controller integrates the regenerative braking and wheel anti-lock functions by controlling the electric motor of the hybrid vehicle, without using any conventional mechanical anti-lock braking system. the performance of the ...

A new type of spherical robot, called KisBot, is presented that includes arms and two types of driving mode: rolling and wheeling. In the rolling mode, the robot uses its arms as pendulums and works like a pendulum-driven robot, while in the wheeling mode, it extends its arms to the ground and works like a one-wheel car. The basic design idea of KisBot is introduced and a prototype is implement...

This paper describes the analysis and implementation of a motor drive control system for an intelligent wheelchair being developed at the Robotics Instihte at, Carnegie-Mellon University. The experimental mobile platform is mounted on four so-called Ilonators which permit otion n any direction wilhout conventional steering of the wheel axes. The kinematics of the platform were determined analyt...

We report a unique case of penetrating foreign bodies following motor vehicle accident with airbag deployment. The patient presented evidence facial trauma and was found to have three retained on imaging. Notably, one body within the sphenoid sinus. This removed uneventfully through endoscopic sinus surgery. doing well at follow-up visits. concluded that were steering wheel accessories, which d...

The article describes a project to create an electric transmission for ground vehicles. As layout, motor-wheel variant is proposed, in which traction motor, power electronics, control system and brake are integrated into the wheel disk. This arrangement of motor allows you free up space car comfort placement storage. A combined excitation machine proposed as magnetic flux created simultaneously...