Abstract
We have designed and built the prototype of hyper redundant, articulated mobile robot propelled on wheels and therefore called - Wheeeler. In this paper we present progress in our project, focusing on modeling and prototyping phase. We show model of the robot built and verified in 3D simulator and proof-of-concept 3-segment device. Wheeeler is designed to operate in a rough terrain and fulfill tasks such as climbing up or down the stairs, going through trenches, avoiding or climbing over obstacles, operating in narrow, limited spaces like ventilation shafts. The major difficulty of control of hypermobile robots is synchronization of multiple actuators. Design of the high level control system, which can help human operator to intuitively steer this robot is the main goal of our project. In the further part of this paper we introduce communication and control architecture.
This work was supported by The Ministry of Science and Higher Education under Grant No. 3 T11A 024 30.
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Granosik, G., Mianowski, K., Pytasz, M. (2009). Wheeeler – Hypermobile Robot. In: Gottscheber, A., Enderle, S., Obdrzalek, D. (eds) Research and Education in Robotics — EUROBOT 2008. EUROBOT 2008. Communications in Computer and Information Science, vol 33. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03558-6_7
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