A modular approach for controlling mobile robots

Regenstein, K.; Kerscher, Thilo; Birkenhofer, C.; Asfour, Tamim; Zöllner, J. Marius; Dillmann, Ruediger

doi:10.1142/9789812770189_0063

Cited by 2 publications

(1 citation statement)

References 6 publications

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“…For example, the design of the K9 and K10 rover at the NASA Ames Research Center [2] has used combinations of off-the-shelf hardware and custom designed hardware to realize an extensible architecture. Moreover, ARMAR III and LAURON IV robot systems [3] use a modular hardware inspired by modular software and computer architectures.…”

Section: Introductionmentioning

confidence: 99%

Highly Adaptable Hardware Architecture for Scientific and Industrial Mobile Robots

Merten

Groß

2008

2008 IEEE Conference on Robotics, Automation and Mechatronics

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The growing field of mobile robotics produces various types of robot systems for different applications. However, the development of new robots often requires the design of new hardware systems which is time consuming and susceptible to errors. Here, we present a modular and highly flexible hardware architecture that allows to simplify the adaptation of the robot to a new task and reduces the time for the development of a new robot system. This hardware architecture was developed according to industrial standards and is applicable to industrial and to research mobile robot systems. This paper describes the underlying demands to the hardware, the technical solutions and the designed modules. Moreover, we show the successful integration of the new architecture in three different robot systems (indoor and outdoor)1.

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Section: Introductionmentioning

confidence: 99%

Highly Adaptable Hardware Architecture for Scientific and Industrial Mobile Robots

Merten

Groß

2008

2008 IEEE Conference on Robotics, Automation and Mechatronics

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Model validation of a hexapod walker robot

Kecskés¹,

Burkus²,

Bazsó

et al. 2015

Robotica

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Our complete dynamical simulation-model realistically describes the real low-cost hexapod walker robot Szabad(ka)-II within prescribed tolerances under nominal load conditions. This validated model is novel, described in detail, for it includes in a single study: (a) digital controllers, (b) gearheads and DC motors, (c) 3D kinematics and dynamics of 18 Degree of Freedom (DOF) structure, (d) ground contact for even ground, (e) sensors and battery model. In our model validation: (a) kinematical-, dynamical-and digital controller variables were simultaneously compared, (b) differences of measured and simulated curves were quantified and qualified, (c) unknown model parameters were estimated by comparing real measurements with simulation results and applying adequate optimization procedures. The model validation helps identifying both model's and real robot's imperfections: (a) gearlash of the joints, (b) imperfection of approximate ground contact model, (c) lack of gearhead's internal non-linear friction in the model. Modeling and model validation resulted in more stable robot which performed better than its predecessors in terms of locomotion.

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A modular approach for controlling mobile robots

Cited by 2 publications

References 6 publications

Highly Adaptable Hardware Architecture for Scientific and Industrial Mobile Robots

Highly Adaptable Hardware Architecture for Scientific and Industrial Mobile Robots

Model validation of a hexapod walker robot

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