Studies on mobile robots for all types of terrain

Robert Florian Pecie,Călin Rusu,Mihai Olimpiu Tătar,N.F Cofaru,M Inţă

doi:10.1051/matecconf/202134308015

Robert Florian Pecie, Călin Rusu + Show 3 more

Open Access

https://doi.org/10.1051/matecconf/202134308015

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Abstract

In the first part of the paper, the authors present the characteristics of the robots for all types of terrain. In the second part, two categories of robots are proposed: a robot with hybrid locomotion system and a modular robot. For the last category, if different modules are combined, a family of modular robots adaptable to different types of terrain can be obtained. The solutions proposed by the authors allow the study of the mobility and adaptability of robots to different types of terrain.

Highlights

Robotics for difficult terrain is a rapidly evolving field of research
The fields of application of these robots are scientific exploration of hostile environments such as deserts, volcanoes, the Arctic and search and rescue operations [1]. These robots can generally be equipped with hybrid locomotion systems or they can have a modular structure
The propulsion of the robot is ensured by the motor modules that have in component two motor wheels driven independently. The connection between these modules is realized through passive joints in this case, but constructive solutions of modular robots with active joints can be designed

Summary

Introduction

Robotics for difficult terrain is a rapidly evolving field of research. The fields of application of these robots are scientific exploration of hostile environments such as deserts, volcanoes, the Arctic and search and rescue operations [1]. These robots can generally be equipped with hybrid locomotion systems or they can have a modular structure. The use of wheeled robots brings speed, efficiency and does not require complicated control algorithms, but has limited applicability to surfaces with small bumps. The use of legs has a high adaptability to various environments but requires a more complex mechanical structure and complicated control algorithms. A single type of locomotion is not enough for all types of terrain, as there are complex operating environments that include steep bumps, ditches, and obstacles of various heights

Hybrid robots

First model

The second model

Mathematical model

Conclusions