Relevant bibliographies by topics / Mobile Robot

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Mobile Robot'

Author: Grafiati
Published: 4 June 2021
Last updated: 14 September 2024

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Journal articles on the topic "Mobile Robot"

1

Fu, Yuheng, and Qinyou Zhou. "Analysis and application research of mobile robot navigation related technologies." Applied and Computational Engineering 9, no. 1 (September 25, 2023): 92–96. http://dx.doi.org/10.54254/2755-2721/9/20230055.

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With social progress and technological development, mobile robots have played an important role in industries, medical care, safety, home and other fields due to their advantages of saving labor costs, reducing personnel work intensity, and avoiding potential job hazards. Especially in indoor environments, such as industrial indoor operations, warehousing and logistics distribution, indoor safety patrols, and other application scenarios, mobile robots have highlighted inestimable application value. Intelligent mobile robot is an important tool in the field of service and automation, and robot navigation technology is an important technology for intelligent mobile robot to achieve self-positioning, robot mapping and path planning. This paper expounds three technologies of mobile robot navigation mapping: visual mapping and positioning, lidar mapping and positioning, and sensor fusion mapping and positioning. After that, the method of path planning of the mobile robot is analyzed. Finally, the application of intelligent mobile robots in factory automation and supermarket guidance is pointed out, and the development trend of intelligent mobile robots is prospected.
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Ivanov, A. P. "Vibroimpact Mobile Robot." Nelineinaya Dinamika 17, no. 4 (2021): 429–36. http://dx.doi.org/10.20537/nd210405.

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A simple model of a capsule robot is studied. The device moves upon a rough horizontal plane and consists of a capsule with an embedded motor and an internal moving mass. The motor generates a harmonic force acting on the bodies. Capsule propulsion is achieved by collisions of the inner body with the right wall of the shell. There is Coulomb friction between the capsule and the support, it prevents a possibility of reversal motion. A periodic motion is constructed such that the robot gains the maximal average velocity.
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Xiang, Hong Wei, Chang Zheng Chen, and Chang Long Ye. "Analysis of Articulated Mobile Robots for the Urban Search and Rescue." Applied Mechanics and Materials 303-306 (February 2013): 1641–46. http://dx.doi.org/10.4028/www.scientific.net/amm.303-306.1641.

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Articulated structure of mobile robot presents high flexibility on the environment adaptation. It has been widely used on the mobile robot to get through rough terrain. This class of robots named as articulated mobile robots can move in hard condition with high stability and environment adaptability. In order to satisfy the requirement of Urban Search and Rescue (USAR), a series of articulated mobile robots are analyzed. The performance of articulated mobile robots is analyzed for get an appropriate robot for USAR. Two snake-like robots named Perambulator I and II are analyzed. Based on the structure of Perambulator II, the articulated mobile robot Ameba II are presented based on track drive mechanism. Ameba II has high performance on mobility and adaptability in complex environment. The comparisons among of some typical articulated robots are given based on mobility and environment adaptation. The experimental results of both Perambulator II and Ameba II show that the Ameba II mobile robot is a better than the snake-like robot Perambulator II on the urban search and rescue applications.
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Utama, Yoga Alif Kurnia, Arief Budijanto, and Aditya K. S. "Desain Pengendalian Koordinat Gerak Robot Nirkabel Cerdas Menggunakan Aplikasi Android Melalui Akselerasi Gerakan Smartphone." Electrician 12, no. 1 (July 18, 2018): 10. http://dx.doi.org/10.23960/elc.v12n1.2068.

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Intisari — Perkembangan teknologi saat ini banyak mengarah kepada dunia robotika. Saat ini robot menjadi alat bantu untuk menyelesaikan pekerjaan manusia sehari-hari. Peranan robot juga sudah mulai mengganti peran manusia dalam dunia industri seperti pada industri mobil, sepeda motor, dan lain-lain. Oleh karena itu tidak heran, penelitian mengenai robot, semakin lama semakin bertambah. Banyak sekali jenis robot yang telah diciptakan oleh manusia, seperti robot manipulator atau yang biasa disebut robot lengan yang banyak diaplikasikan untuk membawa barang. Ada pula robot humanoid, yang merupakan robot berbentuk manusia, yang saat ini telah dikembangkan untuk membawa orang sakit, dan mobile robot yang sekarang banyak digunakan untuk menjelajah suatu daerah. Dalam beberapa penelitian robot saat ini, penggunaan teknologi mobile robot sebagai robot penjelajah menjadi fokus utama peneliti. Sistem navigasi pada mobile robot merupakan salah satu permasalahan yang sering dihadapi. Oleh karena itu, penelitian ini mencoba untuk mengembangkan suatu cara pengendalian navigasi robot untuk bergerak pada suatu koordinat tertentu dengan menggunakan aplikasi android pada smartphone. Dari hasil pengujian yang telah dilakukan dapat dilihat bahwa rata-rata eror yang telah terjadi selama pergerakan pada sumbu x adalah 0.27 cm sedangkan pada sumbu y adalah 0.28 cm dimana pergerakan robot ini menggunakan bluetooth dengan baudrate sebesar 57600 bps.Kata kunci — Accelerometer, Android, Arduino, Bluetooth, Robot Abstract — Today, development of technology leads to the world of robotics. Currently the robot is a tool to complete the daily work of man. The role of robots has also begun to replace human roles in the industrial world such as in the car industry, motorcycles, and the others. Therefore, it is not surprisingly, research on robots was increased. There are many of types of robots that have been created by humans, such as robot manipulators or commonly called arm robots that are widely applied to carry goods. There is also a humanoid robot, which is a human-shaped robot, which has been developed to bring sick people, and mobile robots are widely used to explore some areas. In recent robotic studies, the mobile robot technology uses as an exploratory robot is the main focus of the researcher. Navigation system in mobile robot is one of the problems that often faced. Therefore, this research tries to develop a way of controlling the navigation of robots to move on a certain coordinate by using android applications on smartphones. From the results of tests that have been done can be seen that the average error that has occurred during the movement on the x axis is 0.27 cm while on the y-axis is 0.28 cm where the movement of this robot using bluetooth with baudrate of 57600 bps.Keywords— Accelerometer, Android, Arduino, Bluetooth, Robot
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Komoriya, Kiyoshi. "Special Issue on Mobile Robot." Journal of Robotics and Mechatronics 11, no. 1 (February 20, 1999): 1. http://dx.doi.org/10.20965/jrm.1999.p0001.

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Mobility, or locomotion, is as important a function for robots as manipulation. A robot can enlarge its work space by locomotion. It can also recognize its environment well with its sensors by moving around and by observing its surroundings from various directions. Much researches has been done on mobile robots and the research appears to be mature. Research activity on robot mobility is still very active; for example, 22% of the sessions at ICRA'98 - the International Conference on Robotics and Automation - and 24% of the sessions at IROS'98 - the International Conference on Intelligent Robots and Systems - dealt with issues directly related to mobile robots. One of the main reasons may be that intelligent mobile robots are thought to be the closest position to autonomous robot applications. This special issue focuses on a variety of mobile robot research from mobile mechanisms, localization, and navigation to remote control through networks. The first paper, entitled ""Control of an Omnidirectional Vehicle with Multiple Modular Steerable Drive Wheels,"" by M. Hashimoto et al., deals with locomotion mechanisms. They propose an omnidirectional mobile mechanism consisting of modular steerable drive wheels. The omnidirectional function of mobile mechanisms will be an important part of the human-friendly robot in the near future to realize flexible movements in indoor environments. The next three papers focus on audiovisual sensing to localize and navigate a robot. The second paper, entitled ""High-Speed Measurement of Normal Wall Direction by Ultrasonic Sensor,"" by A. Ohya et al., proposes a method to measure the normal direction of walls by ultrasonic array sensor. The third paper, entitled ""Self-Position Detection System Using a Visual-Sensor for Mobile Robots,"" is written by T. Tanaka et al. In their method, the position of the robot is decided by measuring marks such as name plates and fire alarm lamps by visual sensor. In the fourth paper, entitled ""Development of Ultra-Wide-Angle Laser Range Sensor and Navigation of a Mobile Robot in a Corridor Environment,"" written by Y Ando et al., a very wide view-angle sensor is realized using 5 laser fan beam projectors and 3 CCD cameras. The next three papers discussing navigation problems. The fifth paper, entitled ""Autonomous Navigation of an Intelligent Vehicle Using 1-Dimensional Optical Flow,"" by M. Yamada and K. Nakazawa, discusses navigation based on visual feedback. In this work, navigation is realized by general and qualitative knowledge of the environment. The sixth paper, entitled ""Development of Sensor-Based Navigation for Mobile Robots Using Target Direction Sensor,"" by M. Yamamoto et al., proposes a new sensor-based navigation algorithm in an unknown obstacle environment. The seventh paper, entitled ""Navigation Based on Vision and DGPS Information for Mobile Robots,"" S. Kotani et al., describes a navigation system for an autonomous mobile robot in an outdoor environment. The unique point of their paper is the utilization of landmarks and a differential global positioning system to determine robot position and orientation. The last paper deals with the relationship between the mobile robot and computer networks. The paper, entitled ""Direct Mobile Robot Teleoperation via Internet,"" by K. Kawabata et al., proposes direct teleoperation of a mobile robot via the Internet. Such network-based robotics will be an important field in robotics application. We sincerely thank all of the contributors to this special issue for their cooperation from the planning stage to the review process. Many thanks also go to the reviewers for their excellent work. We will be most happy if this issue aids readers in understanding recent trends in mobile robot research and furthers interest in this research field.
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Umetani, Tomohiro, Yuya Kondo, and Takuma Tokuda. "Rapid Development of a Mobile Robot for the Nakanoshima Challenge Using a Robot for Intelligent Environments." Journal of Robotics and Mechatronics 32, no. 6 (December 20, 2020): 1211–18. http://dx.doi.org/10.20965/jrm.2020.p1211.

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Automated mobile platforms are commonly used to provide services for people in an intelligent environment. Data on the physical position of personal electronic devices or mobile robots are important for information services and robotic applications. Therefore, automated mobile robots are required to reconstruct location data in surveillance tasks. This paper describes the development of an autonomous mobile robot to achieve tasks in intelligent environments. In particular, the robot constructed route maps in outdoor environments using laser imaging detection and ranging (LiDAR), and RGB-D sensors via simultaneous localization and mapping. The mobile robot system was developed based on a robot operating system (ROS), reusing existing software. The robot participated in the Nakanoshima Challenge, which is an experimental demonstration test of mobile robots in Osaka, Japan. The results of the experiments and outdoor field tests demonstrate the feasibility of the proposed robot system.
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Elmoselhy, Salah A. M. "Empirically Investigating a Hybrid Lean-Agile Design Paradigm for Mobile Robots." Journal of Intelligent Systems 24, no. 1 (March 1, 2015): 117–34. http://dx.doi.org/10.1515/jisys-2014-0024.

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AbstractLean design and agile design paradigms have been proposed for designing robots; yet, none of them could strike a balance between cost-effectiveness and short duration of the design process without compromising the quality of performance. The present article identifies the key determinants of the mobile robots development process. It also identifies empirically the mobile robot design activities and strategies with the most influence on mobile robot performance. The study identified statistically the mobile robot design activities and strategies most positively correlated with mobile robot performance. The results showed that 65% of typical mobile robot design activities and strategies are affiliated with the lean design paradigm, while the remaining 35% are affiliated with the agile design paradigm. In addition, it was found that 22% of the lean mobile robot design activities and strategies and 25% of the agile mobile robot design activities and strategies, significantly with 99% confidence, are among the design activities and strategies most positively correlated with improving mobile robot performance. A hybrid lean-agile design paradigm is thus proposed.
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Pamenang, Muhammad Jodi, Indrazno Siradjuddin, and Budhy Setiawan. "Pengendalian konvergensi eksponensial untuk omnidirectional mobile robot dengan empat roda." JURNAL ELTEK 18, no. 1 (April 28, 2020): 108. http://dx.doi.org/10.33795/eltek.v18i1.225.

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Tujuan mendasar dari kontrol gerak mobile robot adalah untuk mengarahkan robot ke posisi yang diberikan secara acak pada ruang 2D. Mobile robot dengan roda omni memiliki sifat holonomic di mana memiliki keunggulan kelincahan dan permasalahan pengendalian gerak hanya pada sisi aktuator, sedangkan mobile robot dengan roda konvensional, memiliki permasalahan tambahan pengendalian gerak dalam ruang area operasional robot. Karenanya, robot omni lebih gesit untuk bergerak dalam konfigurasi ruang area kerja apa pun. Makalah ini menyajikan model kontrol konvergensi eksponensial berbasis model untuk mobile robot omnidirectional roda empat. Kontrol yang diusulkan menjamin penurunan kesalahan secara eksponensial dari gerakan robot ke setiap posisi robot yang diinginkan. Pembahasan meliputi model kinematik dan kontrol dari robot bergerak omnidirectional roda empat dan eksperimen simulasi yang telah dilakukan untuk memverifikasi kinerja kontrol yang meliputi lintasan robot 2D, serta nilai error atau kesalahan pada kontrol robot. Hasil dari eksperimen simulasi menunjukkan keefektifan kontrol yang diusulkan. Mobile robot telah bergerak ke posisi yang diinginkan pada garis lurus dengan tujuan robot yang akurat dan niali error atau kesalahan yang didapat ialah |0.02735| serta grafik error telah menurun secara eksponensial. The fundamental objective of a mobile robot motion control is to navigate the robot to any given arbitrary posture in which robot 2D location and its heading are concerned. Mobile robots with omni wheels have a holonomic properties the advantage is of agility and motion control problems only on the actuator, while mobile robots with conventional wheels, have a problem of motion control the robot in task space. Therefore, the omni-wheeled mobile robots are more agile to move in any task space configuration. This paper presents a model based exponential convergence control law for a four-wheeled omnidirectional mobile robot. The proposed control law guarantees an exponential error decay of mobile robot motion to any given desired robot posture. The kinematic model and the control law of a four-wheeled omnidirectional mobile robot are discussed. Simulation experiments have been conducted to verify the control law performances which include the 2D robot trajectory, the error signals, and the robot control signals. Results from simulation experiments show the effectiveness of the proposed control law. Mobile robot has moved to the desired position in a straight line with the aim of the robot that is accurate and the error or error obtained is | 0.02735 | and the error graph has decreased exponentially
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Valliappan, Karthik C*, and Vikram R. "Autonomous Indoor Navigation for Mobile Robots." Regular issue 10, no. 7 (May 30, 2021): 122–26. http://dx.doi.org/10.35940/ijitee.g9038.0510721.

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An autonomous navigation system for a robot is key for it to be self-reliant in any given environment. Precise navigation and localization of robots will minimize the need for guided work areas specifically designed for the utilization of robots. The existing solution for autonomous navigation is very expensive restricting its implementation to satisfy a wide variety of applications for robots. This project aims to develop a low-cost methodology for complete autonomous navigation and localization of the robot. For localization, the robot is equipped with an image sensor that captures reference points in its field of view. When the robot moves, the change in robot position is estimated by calculating the shift in the location of the initially captured reference point. Using the onboard proximity sensors, the robot generates a map of all the accessible areas in its domain which is then used for generating a path to the desired location. The robot uses the generated path to navigate while simultaneously avoiding any obstacles in its path to arrive at the desired location.
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Jamaludin, Syukrul Hassani, Muhammad Naufal Mansor, Ahmad Kadri Junoh, and Azrini Idris. "Gantry Robot for Mobile Observation." Applied Mechanics and Materials 798 (October 2015): 70–74. http://dx.doi.org/10.4028/www.scientific.net/amm.798.70.

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A gantry robot consists of a manipulator mounted onto an overhead system that allows movement across a horizontal plane. Gantry robots are also called Cartesian or linear robots. They are usually large systems that perform pick and place applications, but they can also be used in welding and other applications like for observing the behavior of patient in hospital wards. Fast motion of a gantry robot is usually associated with undesirable induced oscillations of the suspended object. Because of these oscillations, gantry robot maneuvers are performed slowly contributing to low site efficiency and high transportation costs. These undesirable oscillations can be minimized at reasonably high travel speeds by designing effective controllers. To solve this problem precaution should also be considered as not to use unbalanced structure and also the most important was the mechanism of the robot. The robot structure requires high stability so that when the camera housing is positioned to the required locations it will not disturbed and ensure safety to the patient.
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Dissertations / Theses on the topic "Mobile Robot"

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Yang, Hai. "Etude d’un système de fabrication agile mobile pour composants de grande taille." Thesis, Montpellier 2, 2012. http://www.theses.fr/2012MON20042/document.

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Les robots industriels, bien connus pour être des systèmes de fabrication flexibles et agiles, atteignent leurs limites lorsqu'il s'agit d'effectuer des tâches sur des pièces de grande taille (par exemple: les pièces longues et minces de l'industrie aéronautique). Pour ce type des tâches, les solutions existantes sont à leurs limites: les bras manipulateurs à base fixe souffrent d'un espace de travail trop limité; les bras manipulateurs montés sur véhicule ne sont pas assez précis; les machines-outils conventionnelles doivent être conçus à méga-échelle (plusieurs dizaines de mètres). Dans la cadre de cette thèse de doctorat, nous avons proposé des solutions robotiques innovantes qui combinent la capacité de marcher (ou de grimper) sur la pièce (ou sur le montage d'usinage) avec la capacité d'usiner. De l'analyse de la topologie et de la mobilité à la modélisation géométrique et cinématique, ainsi que la proposition d'algorithmes de contrôle innovants, des robots ont été proposés et étudiés pour la réalisation des tâches d'usinage ainsi que des tâches de locomotion. Un prototype a été construit qui témoigne de la pertinence de ce concept innovant. Il repose sur une architecture parallèle à actionnement redondant (8 moteurs pour 6 degrés de liberté) et combine moteurs, freins, dispositifs de bridage et de nombreux capteurs de position. Le prototype peut se fixer sur le montage d'usinage, réaliser ses tâches de fabrication, puis modifier sa configuration pour devenir un robot marcheur capable d'atteindre la zone de travail suivante
Industrial robots, well known as flexible and agile manufacturing systems, reach their limits when dealing with very large workpieces (e.g.: very long and slender parts found in aeronautics industry). For such tasks, existing solutions are at their limits: stationary manipulator arms suffer from a too limited workspace; manipulators mounted on a vehicle are not accurate enough; classical machine-tools must be designed at mega-scale (several tens of meters). This thesis work aims at offering an innovative robotic solution that combines the ability to walk (or climb) on the workpiece (or on the tooling that supports the workpieces) together with manufacturing ability. From the topology and mobility analysis to the geometrics and kinematics modeling, as well as innovative control algorithms proposition, the proposed mobile manufacturing robots have been studied for achieving both machining and locomotion tasks. A prototype has been built to show the concept effectiveness . It is based on a parallel mechanism with actuation redundancy (8 motors for 6 degrees-of-freedom), combining motors, brakes, clamping devices and numerous position sensors. The robot can clamp itself on the manufacturing tooling, and then change its configuration to become a walking robot able to reach the next working area
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Luh, Cheng-Jye 1960. "Hierarchical modelling of mobile, seeing robots." Thesis, The University of Arizona, 1989. http://hdl.handle.net/10150/276998.

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This thesis describes the implementation of a hierarchical robot simulation environment which supports the design of robots with vision and mobility. A seeing robot model applies a classification expert system for visual identification of laboratory objects. The visual data acquisition algorithm used by the robot vision system has been developed to exploit multiple viewing distances and perspectives. Several different simulations have been run testing the visual logic in a laboratory environment. Much work remains to integrate the vision system with the rest of the robot system.
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Baba, Akihiko. "Robot navigation using ultrasonic feedback." Morgantown, W. Va. : [West Virginia University Libraries], 1999. http://etd.wvu.edu/templates/showETD.cfm?recnum=677.

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Thesis (M.S.)--West Virginia University, 1999.
Title from document title page. Document formatted into pages; contains viii, 122 p. : ill. Includes abstract. Includes bibliographical references (p. 57-59).
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Cheng, Sheri A. (Sheri Ann) 1977. "Mobile robot relocation." Thesis, Massachusetts Institute of Technology, 2001. http://hdl.handle.net/1721.1/91353.

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Sorour, Mohamed. "Motion discontinuity-robust controller for steerable wheeled mobile robots." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS090/document.

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Les robots mobiles à roues orientables gagnent de la mobilité en employant des roues conventionnelles entièrement orientables, comportant deux joints actifs, un pour la direction et un autre pour la conduite. En dépit d'avoir seulement un degré de mobilité (DOM) (défini ici comme degrés de liberté instantanément autorisés DOF), correspondant à la rotation autour du centre de rotation instantané (ICR), ces robots peuvent effectuer des trajectoires planaires complexes de $ 2D $. Ils sont moins chers et ont une capacité de charge plus élevée que les roues non conventionnelles (par exemple, Sweedish ou Omni-directional) et, en tant que telles, préférées aux applications industrielles. Cependant, ce type de structure de robot mobile présente des problèmes de contrôle textit {basic} difficiles de la coordination de la direction pour éviter les combats d'actionneur, en évitant les singularités cinématiques (ICR à l'axe de la direction) et les singularités de représentation (du modèle mathématique). En plus de résoudre les problèmes de contrôle textit {basic}, cette thèse attire également l'attention et présente des solutions aux problèmes de textit {niveau d'application}. Plus précisément, nous traitons deux problèmes: la première est la nécessité de reconfigurer "de manière discontinue" les articulations de direction, une fois que la discontinuité dans la trajectoire du robot se produit. Une telle situation - la discontinuité dans le mouvement du robot - est plus susceptible de se produire de nos jours, dans le domaine émergent de la collaboration homme-robot. Les robots mobiles qui fonctionnent à proximité des travailleurs humains en mouvement rapide rencontrent généralement une discontinuité dans la trajectoire calculée en ligne. Le second apparaît dans les applications nécessitant que l'angle de l'angle soit maintenu, certains objets ou fonctionnalités restent dans le champ de vision (p. Ex., Pour les tâches basées sur la vision) ou les changements de traduction. Ensuite, le point ICR est nécessaire pour déplacer de longues distances d'un extrême de l'espace de travail à l'autre, généralement en passant par le centre géométrique du robot, où la vitesse du robot est limitée. Dans ces scénarios d'application, les contrôleurs basés sur l'ICR à l'état de l'art conduiront à des comportements / résultats insatisfaisants. Dans cette thèse, nous résolvons les problèmes de niveau d'application susmentionnés; à savoir la discontinuité dans les commandes de vitesse du robot et une planification meilleure / efficace pour le contrôle du mouvement du point ICR tout en respectant les limites maximales de performance des articulations de direction et en évitant les singularités cinématiques et représentatives. Nos résultats ont été validés expérimentalement sur une base mobile industrielle
Steerable wheeled mobile robots gain mobility by employing fully steerable conventional wheels, having two active joints, one for steering, and another for driving. Despite having only one degree of mobility (DOM) (defined here as the instantaneously accessible degrees of freedom DOF), corresponding to the rotation about the instantaneous center of rotation (ICR), such robots can perform complex $2D$ planar trajectories. They are cheaper and have higher load carrying capacity than non-conventional wheels (e.g., Sweedish or Omni-directional), and as such preferred for industrial applications. However, this type of mobile robot structure presents challenging textit{basic} control issues of steering coordination to avoid actuator fighting, avoiding kinematic (ICR at the steering joint axis) and representation (from the mathematical model) singularities. In addition to solving the textit{basic} control problems, this thesis also focuses attention and presents solutions to textit{application level} problems. Specifically we deal with two problems: the first is the necessity to "discontinuously" reconfigure the steer joints, once discontinuity in the robot trajectory occurs. Such situation - discontinuity in robot motion - is more likely to happen nowadays, in the emerging field of human-robot collaboration. Mobile robots working in the vicinity of fast moving human workers, will usually encounter discontinuity in the online computed trajectory. The second appears in applications requiring that some heading angle is to be maintained, some object or feature stays in the field of view (e.g., for vision-based tasks), or the translation verse changes. Then, the ICR point is required to move long distances from one extreme of the workspace to the other, usually passing by the robot geometric center, where the feasible robot velocity is limited. In these application scenarios, the state-of-art ICR based controllers will lead to unsatisfactory behavior/results. In this thesis, we solve the aforementioned application level problems; namely discontinuity in robot velocity commands, and better/efficient planning for ICR point motion control while respecting the maximum steer joint performance limits, and avoiding kinematic and representational singularities. Our findings has been validated experimentally on an industrial mobile base
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Li, Wan-chiu. "Localization of a mobile robot by monocular vision /." Hong Kong : University of Hong Kong, 2001. http://sunzi.lib.hku.hk/hkuto/record.jsp?B23765896.

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Gonullu, Muhammet Kasim. "Development Of A Mobile Robot Platform To Be Used In Mobile Robot Research." Master's thesis, METU, 2013. http://etd.lib.metu.edu.tr/upload/12615654/index.pdf.

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Robotics is an interdisciplinary subject and combines mechanical, computer and electrical engineering components together to solve different kinds of problems. In order to build robotic systems, these disciplines should be integrated. Therefore, mobile robots can be used as a tool in education for teaching engineering concepts. They can be employed to be used in undergraduate, graduate and doctorate research. Hands on experience on a mobile robot increase motivation of the students on the topic and give them precious practical knowledge. It also delivers students new skills like teamwork, problem solving, creativity, by executing robotic exercises. To be able to fulfill these outcomes, universities and research centers need mobile robot platforms that are modular, easy to build, cheap and flexible. However it should be also powerful and capable of being used in different research studies and hence be customizable depending on the requirements of these topics. This thesis aims at building an indoor mobile robot that can be used as a platform for developing algorithms involving various sensors incorporated onto a mobile platform. More precisely, it can be used as a base for indoor navigation and localization algorithms, as well as it can be used as platform for developing algorithms for larger autonomous mobile robots. The thesis work involves the design and manufacturing of a mobile robot platform that can potentially facilitate mobile robotics research that involves use of various hardware to develop and test different perception and navigation algorithms.
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Tennety, Srinivas. "Mobile robot navigation in hilly terrains." University of Cincinnati / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1313757135.

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李宏釗 and Wan-chiu Li. "Localization of a mobile robot by monocular vision." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2001. http://hub.hku.hk/bib/B31226371.

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Olafsson, Asgrimur. "Autonomous Mobile Robot Cooperation." Thesis, University of Skövde, Department of Computer Science, 1997. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-242.

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This project is concerned with an investigation of simple communication between ANN-controlled mobile robots. Two robots are trained on a (seemingly) simple navigation task: to stay close to each other while avoiding collisions with each other and other obstacles.

A simple communication scheme is used: each of the robots receives some of the other robots’ outputs as inputs for an algorithm which produces extra inputs for the ANNs controlling the robots.

In the experiments documented here the desired cooperation was achieved. The different problems are analysed with experiments, and it is concluded that it is not easy to gain cooperation between autonomous mobile robots by using only output from one robot as input for the other in ANNs.

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Books on the topic "Mobile Robot"

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Indusegaran, M. Mobile robot base. London: University of East London, 1994.

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Indusegaran, M. Mobile robot base. London: University of East London, 1994.

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Bräunl, Thomas. Mobile Robot Programming. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-32797-1.

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Martins, Nardênio Almeida, and Douglas Wildgrube Bertol. Wheeled Mobile Robot Control. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-77912-2.

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Cuesta, Federico, and Aníbal Ollero. Intelligent Mobile Robot Navigation. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/b14079.

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J, Cox I., and Wilfong Gordon Thomas 1958-, eds. Autonomous robot vehicles. New York: Springer-Verlag, 1990.

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Yildirim, Alp, Hendrik Reefke, and Emel Aktas. Mobile Robot Automation in Warehouses. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-12307-8.

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Sherfey, Solomon Rand. A mobile robot sonar system. Monterey, Calif: Naval Postgraduate School, 1991.

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Castellanos, José A., and Juan D. Tardós. Mobile Robot Localization and Map Building. Boston, MA: Springer US, 1999. http://dx.doi.org/10.1007/978-1-4615-4405-0.

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Brooks, Rodney Allen. Herbert: A second generation mobile robot. Cambridge, Mass: Massachusetts Institute of Technology, Artificial Intelligence Laboratory, 1988.

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Book chapters on the topic "Mobile Robot"

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Nehmzow, Ulrich. "L’hardware del robot." In Robotica mobile, 23–42. Milano: Springer Milan, 2008. http://dx.doi.org/10.1007/978-88-470-0386-6_3.

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Bräunl, Thomas. "Robot Swarms." In Mobile Robot Programming, 59–69. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-32797-1_5.

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Bräunl, Thomas. "Robot Hardware." In Mobile Robot Programming, 1–13. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-32797-1_1.

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Bräunl, Thomas. "Robot Software." In Mobile Robot Programming, 15–37. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-32797-1_2.

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Bräunl, Thomas. "Robot Vision." In Mobile Robot Programming, 133–49. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-32797-1_11.

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Todd, D. J. "Mobile Robots." In Fundamentals of Robot Technology, 171–204. Dordrecht: Springer Netherlands, 1986. http://dx.doi.org/10.1007/978-94-011-6768-0_9.

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Bräunl, Thomas. "Traffic Models." In Mobile Robot Programming, 161–70. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-32797-1_13.

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Bräunl, Thomas. "Wall Following." In Mobile Robot Programming, 71–76. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-32797-1_6.

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Bräunl, Thomas. "Driving Algorithms." In Mobile Robot Programming, 39–52. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-32797-1_3.

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Bräunl, Thomas. "Mazes." In Mobile Robot Programming, 97–116. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-32797-1_9.

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Conference papers on the topic "Mobile Robot"

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Heidari, Fatemeh, and Reza Fotouhi. "A Human-Inspired Method for Mobile Robot Navigation." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-13523.

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A new method for real-time navigation of mobile robots in complex and mostly unstructured environment is presented. This novel human-inspired method (HIM) uses distance-based sensory data from a laser range finder for real-time navigation of a wheeled mobile robot in unknown and cluttered settings. The approach requires no prior knowledge from the environment and is easy to be implemented for real-time navigation of mobile robots. HIM endows the robot a human-like ability for reasoning about the situations to reach a predefined goal point while avoiding static and moving or unforeseen obstacles; this makes the proposed strategy efficient and effective. Results indicate that HIM is capable of creating smooth (no oscillations) paths for safely navigating the mobile robot, and coping with fluctuating and imprecise sensory data from uncertain environment. HIM specifies the best path ahead, according to the situation of encountered obstacles, preventing the robot to get trapped in deadlock and impassable conditions. This deadlock detection and avoidance is a significant ability of HIM. Also, this algorithm is designed to analyze the environment for detecting both negative and positive obstacles in off-road terrain. The simulation and experimental results of HIM is compared with a fuzzy logic based (FLB) approach.
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Pac, Muhammed R., and Dan O. Popa. "Kinematic Analysis of a Five-Legged Mobile Robot." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28993.

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Legged robots are more maneuverable, and can negotiate rough terrain much better than conventional locomotion using wheels. However, since the kinematic or dynamic analysis of such robots involves closed chains, it is typically more difficult to investigate the impact of design changes, such as the number, or the design of its legs, to robot performance. Most legged robots consist of 4 legs (quadrupeds) or 6 legs (hexapods). This paper discusses the kinematic analysis of an unconventional, symmetrical 5-legged robot with 2-DOF (Degrees Of Freedom) universal joints in each leg. The analysis was carried out in order to predict the mobility of the upper body platform, and investigate the number of robot actuators needed for mobility. The product of exponentials formulation with respect to the local coordinate frames is used to describe the twists of the joints. The analysis is based on the idea that the robot body platform along with the legs can be considered instantaneously as a parallel robot manipulating the ground. Hence, the analysis can be done using the Jacobian formulation of parallel robots. Simulation results confirm the mobility analysis that the robot can have at most 3-DOF for the body and that these freedoms are coupled rotations and translations in 3D space also with a dependence on the configuration of the robot.
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Labenda, Patrick, Tim Sadek, and Thomas Predki. "Controlled Maneuverability of an Articulated Tracked Mobile Robot." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28716.

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Considerable potentials with regard to mobility in unstructured environment offer actively articulated mobile robots equipped with powered wheels or tracks. These potentials are obvious when dealing with a system’s trafficability and terrainability. However, maneuverability and steerability of articulated mobile robots are challenging. This is due to the fact that these robots represent a form of truck-trailer systems leading to interactions and influences between the individual vehicles resulting in significant problems like e.g. off-tracking with regard to a given path. Further on, when dealing with a mobile robot’s maneuverability there are only few scientific contributions covering articulated vehicles with actively powered trailers using tracks as propulsive elements. The described systems differ significantly with regard to their configuration with respect to the multi-redundant mobile robot in this work. To investigate the maneuverability of articulated tracked mobile robots a demonstrator has been developed. It is built up out of three identical modules which are connected with each other in a rowby means of a rotational and a translational degree-of-freedom. Each module has two tracks which can be powered independently. Overall, the system has got ten degrees-of-freedom whereas six of them are active and four passive. The developed demonstrator has been used for investigations dealing with maneuverability and steerability as well as modularization of the system’s control architecture. The paper summarizes the development of the mobile robot, its feedback control strategy as well as the tests carried out. The achieved results show a satisfying performance with regard to the implemented control strategy and the system’s maneuverability.
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Sarkar, Saurabh, Ernest L. Hall, and Manish Kumar. "Mobile Robot Path Planning Using Support Vector Machines." In ASME 2008 Dynamic Systems and Control Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/dscc2008-2200.

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This paper describes an approach that uses support vector machines (SVM) for path planning of mobile robots. The algorithm generates a collision free path for mobile robots running between two tracks or moving towards a known way point. This approach can negotiate tracks and avoid obstacles which may be initially unknown but are later perceived by the robot, and hence is suitable for use with onboard sensors which provides local information. The approach involves dividing the whole terrain into two different classes, classifying any new point obtained from sensors into either of the classes, and generating a track between both the classes as a path of the robot. SVM generates a non-linear class boundary on the principle of maximizing the margin. The boundary generated by this method is smooth, free of obstacles, and safe for a robot to navigate. The paper presents various case studies and simulation results. Future possibility to integrate this technique with other path planning techniques is also discussed.
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Lin, Han, Jiayu Luo, Xiaotong Huang, Haoguang Yang, Jiaming Fu, Richard M. Voyles, and Dongming Gan. "Design and System Identification of an Actuation-Coordinated Mobile Parallel Robot with Hybrid Mobile and Manipulation Motion." In ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2023. http://dx.doi.org/10.1115/detc2023-114992.

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Abstract This paper presents the development of a novel Actuation-Coordinated Mobile Parallel Robot (ACMPR), with a focus on studying the kinematics of the mobile parallel robot with three limbs (3-mPRS) comprising mobile prismatic joint-revolute joint-spherical joint. The objective of this research is to explore the feasibility and potential of utilizing omnidirectional mobile robots to construct a parallel mechanism with a mobile platform. To this end, a prototype of the 3-mPRS is built, and several experiments are conducted to identify the proposed kinematic parameters. The system identification of the 3-mPRS mobile parallel mechanism is conducted by analyzing the actuation inputs from the three mobile base robots. To track the motion of the robot, external devices such as the Vicon Camera are employed, and the data is fed through ROS. The collected data is processed based on the geometric properties, CAD design, and established kinematic equations in MATLAB, and the results are analyzed to evaluate the accuracy and effectiveness of the proposed calibration methods. The experiment results fall within the error range of the proposed calibration methods, indicating the successful identification of the system parameters. The differences between the measured values and the calculated values are further utilized to calibrate the 3-mPRS to better suit the experiment environment.
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Ma, Zhou, and Pinhas Ben-Tzvi. "An Admittance Glove Mechanism for Controlling a Mobile Robot." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-71284.

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This paper presents a bidirectional teleoperation admittance haptic glove (RML glove) which can be used to control mobile robots. The glove receives information from the environment and the internal status of the mobile robot, and generates a force feedback to the operator through the wireless module which in return communicates command signals to the robot. This haptic device is a lightweight and portable actuator system that fits on bare hands, and adds a haptic sense of force feedback to all fingers without constraining their natural movement. An embedded lead screw mechanism provides force feedback that ranges from zero up to 35 N for each finger. Based on this force feedback, the operator can feel what the robot feels (e.g., link torque amount and distance to an obstacle) which enables a smoother and safer human-control of the robot. To evaluate the performance of the haptic glove, a master-slave control experiment based on force feedback between the glove and the mobile robot is conducted. The results demonstrate that the proposed admittance glove can augment tele-presence.
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Ghim, Yong-Gyun. "Designing Mobile Robots: A Systems Thinking Approach for Industrial Designers." In 13th International Conference on Applied Human Factors and Ergonomics (AHFE 2022). AHFE International, 2022. http://dx.doi.org/10.54941/ahfe1002024.

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With robots’ presence gradually expanding to homes and public spaces, there are increasing needs for new robot development and design. Mobile robots’ autonomous and dynamic behaviors ask for new design approaches and methods that are different from the ones for designing non-robotic products. This study proposes a methodology for designing mobile robots from a systems thinking perspective to supplement the limitation of traditional industrial design approaches. A conceptual framework consisting of user, robot, and environment is proposed and task flow models are built to help designers analyze and specify complex interactions between multiple system elements. A robot system blueprint, a storyboard, and a system map are subsequently introduced to design and represent a product-service system of a robot holistically. This approach was applied to student projects for mobile robot design in a fourth-year studio course at a university’s industrial design program.
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Liang, Yi, and Ho-Hoon Lee. "Avoidance of Multiple Obstacles for a Mobile Robot With Nonholonomic Constraints." In ASME 2005 International Mechanical Engineering Congress and Exposition. ASMEDC, 2005. http://dx.doi.org/10.1115/imece2005-81744.

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In this study, a decoupled controller, consisting of a force controller and a torque controller, is designed to achieve a smooth translational and rotational motion control of a group of nonholonomic mobile robots. The proposed controller also solves the problem of obstacle avoidance, where obstacles with arbitrary boundary shapes are taken into account. Since the tangential direction of obstacle boundary is adopted as the guiding direction of a robot, the proposed controller allows a mobile robot to escape from a concave obstacle, while the robot could be trapped with most of the conventional obstacle avoidance algorithms.
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Ryu, Ji-Chul, Kaustubh Pathak, and Sunil K. Agarwal. "Control of a Passive Mobility Assistive Robot." In ASME 2006 International Mechanical Engineering Congress and Exposition. ASMEDC, 2006. http://dx.doi.org/10.1115/imece2006-14701.

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In this paper, a control methodology for a mobility assistive robot is presented. There are various types of robots that can help the disabled. Among these, mobile robots can help to guide a subject from one place to the other. Broadly, the mobile guidance robots can be classified into active and passive type. From a user's safety point of view, passive mobility assistive robots are more desirable than the active robots. In this paper, a two-wheeled differentially driven mobile robot with a castor wheel is considered as the assistive robot. The robot is made to have passive mobility characteristics by a specific choice of control law which creates damper-like resistive forces on the wheels. The paper describes the dynamic model, the suggested control laws to achieve a passive behavior, and experiments on a mobile robot facility at the University of Delaware. From a starting position, the assistive device guides the user to the goal in two phases. In the first phase, the user is guided to reach a goal position while pushing the robot through a handle attached to it. At the end of this first phase, the robot may not have the desired orientation. In the second phase, it is assumed that the user does not apply any further pushing force while the robot corrects the heading angle. A control algorithm is suggested for each phase. In the second phase, the desired heading angle is achieved at the cost of deviation from the final position. This excursion from the goal position is minimized by the controller. This control scheme is first verified in computer simulation. Then, it is implemented on a laboratory system and the experimental results are presented.
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Ong, Kai Wei, Gerald Seet, Siang Kok Sim, William Teoh, Kean Hee Lim, Ai Nee Yow, and Soon Chiang Low. "A Testbed for Human-Robot Interactions." In ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2004. http://dx.doi.org/10.1115/detc2004-57171.

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This paper describes the design and implementation of a testbed for facilitating the study of human-robot interactions (HRI). HRI has long been a part of robotics research, where humans were typically required to guide the robot task in progress and to ensure safe operation. The current state of human interaction with robots, versus simple “machines” (e.g. in manufacturing automation) is quite different. This called for the need to look into different interaction roles between humans and robots. Robots differ from simple machines in that they are mobile, some may be autonomous and hence not as predictable in their actions. To facilitate the research in this domain, the aim is to develop an easy to use and safe front-end human-robot system for human users to interact with physical mobile robots. This testbed provides different types of system configurations (i.e. one human to one robot, one human to multiple robots, etc.) and interfaces for conducting experiments under different HRI scenarios.
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Reports on the topic "Mobile Robot"

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Pastore, Tracy H., Mitchell Barnes, and Rory Hallman. Mobile Robot Knowledge Base. Fort Belvoir, VA: Defense Technical Information Center, January 2005. http://dx.doi.org/10.21236/ada433772.

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Evans, John M. Low Cost Mobile Robot. Fort Belvoir, VA: Defense Technical Information Center, October 1987. http://dx.doi.org/10.21236/ada188507.

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Blackwell, Mike. The Uranus Mobile Robot. Fort Belvoir, VA: Defense Technical Information Center, September 1990. http://dx.doi.org/10.21236/ada236593.

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Weisbin, C. (Workshop on mobile robot issues). Office of Scientific and Technical Information (OSTI), May 1987. http://dx.doi.org/10.2172/6782429.

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McGovern, D. E. Mobile robot vehicles for physical security. Office of Scientific and Technical Information (OSTI), July 1987. http://dx.doi.org/10.2172/6449648.

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Flynn, Anita M. Redundant Sensors for Mobile Robot Navigation. Fort Belvoir, VA: Defense Technical Information Center, September 1985. http://dx.doi.org/10.21236/ada161087.

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Huang, Pang. Controlling a Mobile Robot with IoT Platform. Web of Open Science, July 2020. http://dx.doi.org/10.37686/asr.v1i1.65.

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Smurlo, Richard P. Intelligent Security Assessment for a Mobile Robot. Fort Belvoir, VA: Defense Technical Information Center, March 1993. http://dx.doi.org/10.21236/ada265003.

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Blackburn, Michael R., and Hoa G. Nguyen. Autonomous Visual Control of a Mobile Robot. Fort Belvoir, VA: Defense Technical Information Center, November 1994. http://dx.doi.org/10.21236/ada422533.

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Mohsin, Omar. Mobile Robot Localization Based on Kalman Filter. Portland State University Library, January 2000. http://dx.doi.org/10.15760/etd.1528.

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