Robot base with holonomic drive

Tajti, Ferenc; Szayer, Géza; Kovács, Bence; Köröndi, Péter

doi:10.3182/20140824-6-za-1003.00785

Cited by 6 publications

(5 citation statements)

References 11 publications

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“…They found that if the robot was startled, males reduced the intensity of courtship display compared to the control treatments in which the robotic females were not startled (this change in behavior increases successful courtship). (Tajti, Szayer, Kovács, & Korondi, 2014); D: Ethonis vulgaris caeruleus; E: Ethonis longicollis; F: UMO (Abdai et al, 2015)).…”

Section: Embodimentmentioning

confidence: 99%

“…As an example, we created species names for the robots we have worked with, and which were specifically developed for our studies by engineers (see technical details in e.g., Szayer, Kovács, Korondi, & Tajti, 2013;Tajti et al, 2014). The four robots belong to the family Ethonidae, referring to the strong ethorobotics approach followed by our research group.…”

Section: Robot Nomenclaturementioning

confidence: 99%

“…Examples of the similarity of physical features between robots and the studied species. A) the robot (on the left) is a perfect match to the studied species (Geminoid™ HI-2 has been developed by Hiroshi Ishiguro Laboratories, ATR); B) the robot mimics only specific features of the studied species (MogiRobi (Mogi caniformis):Lakatos et al, 2014); C-F) the robot is completely different from the studied species (C: Ethonis vulgaris rubrum(Tajti, Szayer, Kovács, & Korondi, 2014); D: Ethonis vulgaris caeruleus; E: Ethonis longicollis; F: UMO(Abdai et al, 2015)).…”

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confidence: 99%

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Methodological challenges of the use of robots in ethological research

Abdai¹,

Korcsok²,

Köröndi³

et al. 2018

AB&C

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Artificial models have been used as interactive partners for decades to study the social behavior of animals. Recent technological developments have opened up novel possibilities by allowing researchers to use remote controlled and autonomous objects in these studies, and Animal-Robot Interaction has become an emerging field of behavior science. However, there are theoretical, methodological and practical issues in ethological research using robotic agents. Here we aimed to provide an overview on robots by classifying them along different aspects to facilitate future research, and to present some novel approaches that could be considered as a guide for researchers who are new to the fields of animal-robot interactions (ARI) and human-robot interactions (HRI). The present review may facilitate future collaboration between biologists/psychologists, robot developers, engineers and programmers that further contributes to the development of novel research methods and procedures.

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Section: Embodimentmentioning

confidence: 99%

Section: Robot Nomenclaturementioning

confidence: 99%

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confidence: 99%

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Methodological challenges of the use of robots in ethological research

Abdai¹,

Korcsok²,

Köröndi³

et al. 2018

AB&C

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“…Conventional multiaxial stages are too bulky for multifunctional manipulations in which multiple manipulators are required [3]. Meanwhile, lightweight and compact self-propelling robots have been under development; these include those using omni wheels [4], piezoelectric actuators as drivers [5], [6], shape memory alloys [7], and dielectric elastomers [8]. By mounting various tools on these robots and enabling cooperation with each other, it is possible to achieve compact multifunctional manipulations [9].…”

Section: Introductionmentioning

confidence: 99%

Development of a Δ-Type Mobile Robot Driven by Three Standing-Wave-Type Piezoelectric Ultrasonic Motors

Zhou

Suzuki

Takahashi

et al. 2020

IEEE Robot. Autom. Lett.

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We propose a new mobile robot that uses three standing-wave-type ultrasonic motors (USMs). The USMs are composed of two stacked-type piezoelectric actuators. Recently, with the miniaturization of electronic and microelectromechanical system devices and progress in the biomedical sciences, the demand for multifunctional manipulation of chip parts and biomedical cells has increased. Conventional multiaxial stages are too bulky for multifunctional manipulation in which multiple manipulators are required. Using conventional precise mobile robots is feasible for miniaturization of multifunctional manipulation, although their cables influence positioning repeatability. USMs are feasible actuators for realizing cableless robots because their energy efficiency is relatively higher than that of other motors of millimeter scale. The aim of this study is to develop a new type of omnidirectional mobile robot driven by USMs. In experiments, we evaluated the feasibility by investigating velocity, positioning deviation, and achieving repeatability of translational movements under open-loop control. We determine the repeatability as a ratio of the standard deviation of the final points to the average path length. The proposed mobile robot achieves velocities of 18.6-31.4 mm/s and repeatability of 4.1%-9.1% with a 200-g weight.

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“…The research was inspired by Ethon (see Fig. 1) [8], which is our self-designed kiwi drive based holonomic mobile robot, made for ethological research. On a slippery floor after 15-30 meters of motion in different directions the odometry of Ethon accumulated 2-5 meter errors in any directions and 10-30…”

Section: Odometry Inaccuracymentioning

confidence: 99%

Optical flow based odometry for mobile robots supported by multiple sensors and sensor fusion

et al. 2016

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Original scientific paperThis paper introduces an optical flow based odometry solution for indoor mobile robots. The indoor localization of mobile robots is an important issue according to the increasing mobile robot market and the needs of the industrial, service and consumer electronics sectors. The robot odometry calculated from the robot kinematics accumulates the position error caused by the wheel slip but an optical flow based measurement is independent from wheel slipping so both methods have different credibility which was considered during the sensor fusion and the development. The focus of the research was to design an embedded system with high accuracy on the possibly lowest price to serve the needs of the consumer electronics sector without the need of expensive camera and real-time embedded computer based high level robot localization solutions. The paper proposes the theoretical background, the implementation and the experimental results as well. The universal optical flow module can be implemented in any kind of indoor mobile robot to measure the position and the orientation of the robot during the motion, even in the case of a 3 DoF holonomic drive like kiwi drive. The application of omnidirectional wheels in mobile robotics requires high accurate position and orientation feedback methods contrary to differential drives.Key words: Mobile robot, Omni drive, Odometry, Optical flow, Sensor correlation Odometrija mobilnog robota zasnovana na optičkom toku podržana s više senzora i fuzijom senzora. Ovaj rad predstavlja rješenje odometrije mobilnog robota za unutrašnje prostore koje se zasniva na optičkom toku. Lokalizacija mobilnog robota u unutrašnjim prostorima je veoma važno pitanje u rastućem tržištu mobilnih robota i potreba industrijskog, uslužnog i sektora potrošačke elektronike. Odometrija robota izračunata iz kinematike robota nakuplja greške s vremenom radi sklizanja kotača, dok na odometriju izmjerenu optičkim tokom klizanje ne utječe, te obje metode imaju različit kredibilitet što je uzeto u obzir prilikom fuzije senzora i razvoja. Fokus istraži-vanja je bio dizajnirati ugradbeno sustav visoke točnosti i niske cijene koji bi zadovoljio potrebe sektora potrošačke elektronike bez potrebe za skupim kamerama i lokalizacijskim rješenjima mobilnog robota visokog nivoa namijenjenim izvo enju na ugradbenim računalima za rad u stvarnom vremenu. U radu je iznesena teorijska podloga, implementacija i eksperimentalni rezultati. Univerzalni modul za izračun optičkog toka može se implementirati na bilo kojem mobilnom robotu za unutrašnje prostore kako bi mjerio poziciju i rotaciju robota tijekom gibanja,čak i u slučaju 3 DoF holonomskog pogona kao što je kiwi pogon. Korištenje svesmjernih kotača u mobilnoj robotici zahtjeva visoku točnost pozicije i orijentacije za razliku od diferencijalnog pogona.

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Robot base with holonomic drive

Cited by 6 publications

References 11 publications

Methodological challenges of the use of robots in ethological research

Methodological challenges of the use of robots in ethological research

Development of a Δ-Type Mobile Robot Driven by Three Standing-Wave-Type Piezoelectric Ultrasonic Motors

Optical flow based odometry for mobile robots supported by multiple sensors and sensor fusion

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