Control Methods for Wheeeler – The Hypermobile Robot

Conference paper
First Online:
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 422)

Abstract

In this paper we compare two methods for synchronizing movements of segments of the hypermobile robot Wheeeler. Hypermobile robots are a subset of articulated mobile machines and one of the most important problems with controlling them is appropriate coordination of multiple actuators. One of the most popular methods to do this job is the follow-the-leader approach; another possible method is adaptation of the n-trailer kinematics. We present some details of the latter approach and then show a few tests realized in a simulation environment. Unlike in other papers, our robot is controlled in the teleoperation mode instead of following a predefined trajectory. Nevertheless, we propose appropriate measures to compare the results of several simulation tests.

Keywords

Mobile Robot Intelligent Robot Snake Robot Coordination Method Active Wheel 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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Copyright information

© Springer London 2012

Authors and Affiliations

  1. 1.Institute of Automatic ControlTechnical University of ŁódźŁódźPoland

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