In this paper, two omni‐directional mobile vehicles are designed and controlled implementing distributed mechatronics controllers. Omni‐directionality is the ability of mobile…
Abstract
Purpose
In this paper, two omni‐directional mobile vehicles are designed and controlled implementing distributed mechatronics controllers. Omni‐directionality is the ability of mobile vehicle to move instantaneously in any direction. It is achieved by implementing Mecanum wheels in one vehicle and conventional wheels in another vehicle. The control requirements for omni‐directionality using the two above‐mentioned methods are that each wheel must be independently driven, and that all the four wheels must be synchronized in order to achieve the desired motion of each vehicle.
Design/methodology/approach
Distributed mechatronics controllers implementing Controller Area Network (CAN) modules are used to satisfy the control requirements of the vehicles. In distributed control architectures, failures in other parts of the control system can be compensated by other parts of the system. Three‐layered control architecture is implemented for; time‐critical tasks, event‐based tasks, and task planning. Global variables and broadcast communication is used on CAN bus. Messages are accepted in individual distributed controller modules by subscription.
Findings
Increase in the number of distributed modules increases the number of CAN bus messages required to achieve smooth working of the vehicles. This requires development of higher layer to manage the messages on the CAN bus.
Research limitations/implications
The limitation of the research is that analysis of the distributed controllers that were developed is complex, and that there are no universally accepted tool for conducting the analysis. The other limitation is that teh mathematical models of the mobile robot that have been developed need to be verified.
Practical implications
In the design of omni‐directional vehicles, reliability of the vehicle can be improved by modular design of mechanical system and electronic system of the wheel modules and the sensor modules.
Originality/value
The paper tries to show the advantages of distributed controller for omni‐directional vehicles. To the author's knowledge, that is a new concept.
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L.R. Palmer and D.E. Orin
Legged vehicles offer several advantages over wheeled vehicles, particularly on broken terrain, but are presently too slow to be considered for many high‐speed tasks. This paper…
Abstract
Purpose
Legged vehicles offer several advantages over wheeled vehicles, particularly on broken terrain, but are presently too slow to be considered for many high‐speed tasks. This paper presents an effective 3D controller for a high‐speed quadruped trot.
Design/methodology/approach
To successfully regulate forward velocity and heading, secondary motions such as body pitch and roll must be stabilised. The complicated coupling between pitch and roll motion causes the control effort on one axis to disturb the motion and control effort of the other. Unlike the modular methods in previous research, the algorithm presented here employs a cooperative approach where pitch stability effort is directly accounted for by the roll controller.
Findings
When the secondary motions such as pitch and roll are well stabilized, forward velocity and heading can be regulated up to 3 m/s and 20°/s, respectively.
Research limitations/implications
For many quadrupeds, trotting is usually employed as the precursor to galloping, which is ultimately used at top speeds. Because these two gaits are commonly used together, we expect their control algorithms to share a number of similar components. It is then expected that understanding the quadruped trot will serve as a valuable foundation to understanding the quadruped gallop.
Originality/value
This appears to be the first reported regulation of quadruped heading while running at significant speeds.
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To review the capabilities, features and uses of a robotic simulation package.
Abstract
Purpose
To review the capabilities, features and uses of a robotic simulation package.
Design/methodology/approach
Describes some applications within the nuclear industry. Gives an overview of the latest version of the software, and a detailed description of the procedure for modelling the robot and its workspace, defining its movements and converting the plan into reality. Also describes some applications in other industries.
Findings
The software enables engineers to plan robotic or manipulator work ensuring its feasibility, efficiency and safety, and has applications in a wide range of industries. It models the interactions of multiple robots and integrates with other aspects of the manufacturing process such as product flow and resource utilisation. For many standard robots, it can produce executable programs, with considerable time saving.
Originality/value
A general overview of some very useful and powerful software, of interest to engineers in a variety of industries.
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Mikko Heikkilä, Sami Terho, Minna Hirsi, Aarne Halme and Pekka Forsman
This paper seeks to describe how signs can be used as a part of the work task scenarios with service robot.
Abstract
Purpose
This paper seeks to describe how signs can be used as a part of the work task scenarios with service robot.
Design/methodology/approach
The signs are used to control a work task of a mobile service robot. Tests are done in real outdoor and non‐structured environments with the WorkPartner robot. In the test scenario the signs are used to define the boundaries of a working area. Two different kinds of signs are tested: passive and active.
Findings
The signs can be used as a simple way to define the parameters of a work task. One of the advantages is usability. For example, the signs can just be carried to the working area and no other actions are needed.
Research limitations/implications
The tests focused only on bounding the working area with signs. Using the signs for pointing a direction, marking a route, or defining a location of a single target will be tested in the future.
Practical implications
Signs are an easy way to configure work tasks of service robots. The concept can be applied to various kinds of mobile robots.
Originality/value
The signs are introduced as an alternative or complementary tool for passing information of the task plan of a work task from the human operator to the service robot.
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P. Chatzakos, Y.P. Markopoulos, K. Hrissagis and A. Khalid
The development of a novel omni‐directional inspection robot is presented, which is capable of delivering NDT sensors to surfaces on straight pipe, pipe bends and branch…
Abstract
Purpose
The development of a novel omni‐directional inspection robot is presented, which is capable of delivering NDT sensors to surfaces on straight pipe, pipe bends and branch connections, overcoming the limitation that a test area over a pipe bend or past a branch or other obstruction raise.
Design/methodology/approach
The lightweight crawler is attached on the outside of the pipe to the thin metal strip that holds the insulation in place without deforming the insulation through the application of a force controlled clamping mechanism while performing longitudinal, circumferential and arbitrary movements. In order to be able to cope with a range of pipe, materials and coverings, to allow for future modifications and to be able to incorporate a wide range of NDT inspection equipment, a modular approach was considered for the design of the mobile robot. Either two different inspection sensors may be mechanically incorporated into the chassis of the crawler and deployed at the same time or just a double‐sided acting sensor (e.g. X‐ray).
Findings
The developed omni‐directional mobile robot is capable of delivering NDT sensors to the external surfaces on straight pipe, pipe bends and branch connections, overcoming the limitation that a test area over a pipe bend or past a branch or other obstruction raise. Either a double‐sided acting sensor or two different inspection sensors may be mechanically incorporated and deployed at the same time. Future work will primarily include optimisation of the current design of the crawler aiming at further reduction of its size and weight but without sacrificing the rigidness of the chassis. A perfectly balanced system, which in turn will lead to smaller DC servo motors, will be obtained either by systematic placement of various subsystems and components on the periphery of the chassis or by putting counterbalancing weights in appropriate locations on the chassis. Design and manufacture of custom‐made omni‐wheels exclusively for use with the proposed clawer is also included in the scope of future work. Finally, a sophisticated control scheme for special, uncommon and fully automated inspection routines will be developed.
Originality/value
Today, there are no commercially available current inspection techniques that can accurately detect significant corrosion or other types of defects in pipework under thick coatings. Another limitation is that current inspection techniques can only be applied manually by highly trained operators. Recent PANI trials, carried out to assess the effectiveness of manual inspections have shown that operators detect only 50 per cent of defects. Commercial scanners have been developed for scanning pipe girth welds and lengths of straight pipe with inspection sensors. These are primarily ultrasonic sensors and the scanning is in simple X‐Y routines. These scanners either move around the pipe on tracks or along the pipe on magnetic wheels. However, these cannot work on curved surfaces around pipe bends and in the vicinity of valves, branches and other features in the pipe. Unluckily, these are areas where corrosion is most likely to occur.
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Discusses development of an open architecture multi‐robot system that can be used for training engineers in the area of networked‐based multi‐robot programming.
Abstract
Purpose
Discusses development of an open architecture multi‐robot system that can be used for training engineers in the area of networked‐based multi‐robot programming.
Design/methodology/approach
The robots are operated under their original controllers connected together through a network of supervisory computers. A preemptive multi‐tasking real time operating system (RTOS) running on these computers is used to perform supervisory and cooperative tasks involving multiple robots. The software environment allows for controlling the motion of one or more robots and their interaction with other devices.
Findings
Robots can be networked to perform more elaborate tasks.
Originality/value
The environment is used to train undergraduate and graduate students on how to develop software for various robotic applications, including scheduling techniques, cooperative manipulation, collision avoidance, and emerging robotic applications.
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A. Jardon, A. Gimenez, R. Correal, R. Cabas, S. Martinez and C. Balaguer
Human care and service demands will need innovative robotic solutions to make the day‐to‐day life of elderly and disabled people in home and workplace environments easier. The…
Abstract
Purpose
Human care and service demands will need innovative robotic solutions to make the day‐to‐day life of elderly and disabled people in home and workplace environments easier. The main objective of this work is to develop a new concept of climbing robot for this type of service applications.
Design/methodology/approach
ASIBOT is a 5 DOF self‐containing manipulator that includes the entire control system on‐board. The main advantage of this robot is its light weight, about 11 kg with 1.3 m reach. The robot is totally autonomous and only needs a power supply to be operated.
Findings
The robot is an arm able to move between different points (Docking stations (DS)) of the rooms and, if necessary, “jump” to (or from) the environment to the wheelchair. In this way the ASIBOT robot could become a home companion and assistance for numerous people.
Originality/value
ASIBOT is a 5 DOF self‐containing light weight manipulator that includes the entire control system on‐board.
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Brett Kennedy, Avi Okon, Hrand Aghazarian, Mircea Badescu, Xiaoqi Bao, Yoseph Bar‐Cohen, Zensheu Chang, Borna E. Dabiri, Mike Garrett, Lee Magnone and Stewart Sherrit
Introduces the Lemur IIb robot which allows the investigation of the technical hurdles associated with free climbing in steep terrain. These include controlling the distribution…
Abstract
Purpose
Introduces the Lemur IIb robot which allows the investigation of the technical hurdles associated with free climbing in steep terrain. These include controlling the distribution of contact forces during motion to ensure holds remain intact and to enable mobility through over‐hangs. Efforts also can be applied to further in‐situ characterization of the terrain, such as testing the strength of the holds and developing models of the individual holds and a terrain map.
Design/methodology/approach
A free climbing robot system was designed and integrated. Climbing end‐effector were investigated and operational algorithms were developed.
Findings
A 4‐limbed robotic system used to investigate several aspects of climbing system design including the mechanical system (novel end‐effectors, kinematics, joint design), sensing (force, attitude, vision), low‐level control (force‐control for tactile sensing and stability management), and planning (joint trajectories for stability). A new class of Ultrasonic/Sonic Driller/Corer (USDC) end‐effectors capable of creating “holds” in rock and soil as well as sampling those substrates.
Practical implications
Planetary exploration of cliff faces. Search and rescue in steep terrain. Robotic scouting and surveillance in natural environments.
Originality/value
The technologies developed on this platform will be used to build an advanced system that will climb slopes up to and including vertical faces and overhangs and be able to react forces to maintain stability and do useful work (e.g. sample acquisition/instrument placement).
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Rico Moeckel, Cyril Jaquier, Kevin Drapel, Elmar Dittrich, Andres Upegui and Auke Jan Ijspeert
This paper aims to present a novel modular robot that provides a flexible framework for exploring adaptive locomotion.
Abstract
Purpose
This paper aims to present a novel modular robot that provides a flexible framework for exploring adaptive locomotion.
Design/methodology/approach
A new modular robot is presented called YaMoR (for “Yet another Modular Robot”). Each YaMoR module contains an FPGA and a microcontroller supporting a wide range of control strategies and high computational power. The Bluetooth interface included in each YaMoR module allows wireless communication between the modules and controlling the robot from a PC. A control software called Bluemove was developed and implemented that allows easy testing of the capabilities for locomotion of a large variety of robot configurations.
Findings
With the help of the control software called Bluemove, different configurations of the YaMoR modules were tested like a wheel, caterpillar or configurations with limbs and their capabilities for locomotion.
Originality/value
This paper demonstrates that modular robots can act as a powerful framework for exploring locomotion of a large variety of different types of robots. Although present research is limited to exploring locomotion, YaMoR modules are designed to be general purpose and support a variety of applications.