Simulation of motion of a mobile robot on uneven terrain

Abstract

In the paper, a kinematical model of the robot moving on uneven terrain has been presented. Configuration of the robot placed on uneven terrain is described, presenting the redundant set of variables that create the state of the robot. Inverse kinematics tasks have been defined, which as a result of various assumptions, gives the robot configuration. To solve the kinematics tasks, adequate closed-loop equations have been defined. Velocity equations of the point of the wheel contact with the ground have been presented with respect to the velocity of the platform itself and velocities of the robot actuators. Assuming constraints of the wheel movement causing a no-slip condition, dependencies between those velocities have been determined. This allowed one to determine velocities of the robot drives, so that the platform moves in the way specified by the user.

A Mobile Robot with Omnidirectional Tracks—Design and Experimental Research

“…The phenomenon of the change in the angle ∆α of body orientation had a linear nature, and therefore the application of the static correction method set out in Section 2.5 was justified. On the basis of the planned changes of orientation angle ∆α during a ride (Figures 20 and 24), the values of speed v kw , corrections for the longitudinal motion, and v kw for the transverse motion, were calculated using Formulas ( 6) and (7).…”

“…Currently, research on improving their mobility in difficult terrain is being conducted. One new solution that has been proposed are hybrid wheeledstepping robots [6][7][8].…”

Exploring the role of robotics in Alzheimer’s disease care: innovative methods and applications

“…Among these applications, the care of individuals diagnosed with AD has emerged as a prominent domain (Gonzalez-Pacheco et al , 2011). The Maggie Robot’s sophisticated software system, using the Robot Operating System, offers seamless integration with various devices and systems, rendering it a personalized and adaptive instrument for assisting and caring for individuals with AD (Giergiel and Żylski, 2005; Salichs et al , 2015). Of its numerous remarkable features, the Maggie Robot’s most noteworthy ability is its recognition and response to human emotions.…”

“…Furthermore, the main used sensors reflect the types of sensors the robot has, and the cost is the overall financial investment required for the robot platform. An in-depth analysis of these parameters is crucial to discern the ideal robotic platform for Alzheimer’s patients (Giergiel and Żylski, 2005; Gonzalez-Pacheco et al , 2011; Hemming et al , 2014; Marinoiu et al , 2018; McGlynn et al , 2014; Mitchinson and Prescott, 2016; Pandey and Gelin, 2018; Prescott et al , 2017; Šabanović et al , 2013).…”