Tham khảo tài liệu 'field and service robotics - corke p. and sukkarieh s.(eds) part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Design and Locomotion of a Semi-passive Mobile Platform Amir Shapiro1 and Shraga Shoval2 1 Department of Mechanical Engineering Ben Gurion University of the Negev Beer Sheva 84105 Israel. ashapiro@ 2 Department of Industrial Engineering Management College of Judea and Samaria Ariel 44837 Israel. shraga@ Summary. This paper presents a novel design and a motion planner for a semipassive mobile robot. The robot consists of an upper circular body and three identical semi-passive driving mechanisms. Each mechanism consists of a passive wheel that can freely roll a rotation actuator along the normal axes and a linear actuator for motion along the radial direction of the upper body center. The robot is equipped with an inclinometer to measure the surface slope. Each wheel is also equipped with a rotational encoder to measure roll. Using an odometric model data from these encoders determines vehicle position. Kinematic analysis provides tools for designing a motion path that steers the robot to the desired location and determines the singular configurations. Due to the passive roll there is no longitudinal slippage and lateral slippage is determined from the kinematic and odometric models. This enables accurate and reliable localization even with slippage. A gait pattern planer for downhill as well as horizontal and uphill surfaces is presented. A prototype robot has been built and field tested. Exp erimental results verify the suggested models. Keywords Passive motion planning skid steering slippage. 1 Introduction Wheel slippage is one of the dominant features that affect the efficiency reliability feasibility and stability of mobile robot motion. Uncontrolled slippage causes undesired motions that result in erroneous position and orientation. The most common method for autonomous relative position estimate - odo-metry is subject to unbounded errors due to slippage 2 and requires an additional positioning system . Map-Matching GPS Beacon-Based .
