Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 9 of 9 for “"Wheeled Robots"”.
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Design of a triple singularity drive for mobile wheeled robots
This thesis encompasses the development of a mobile robotic platform using three singularity drive modules. The process begins with a review of other omnidirectional platforms, comparing and contrasting their strengths and weaknesses. It continues with a discussion of the mechanical and electrical …
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Slip-Correction Methods for Improved Dead Reckoning in Autonomous Wheeled Robots
This work compares methods for improving the dead-reckoning capabilities of a mobile robot in the presence of longitudinal slip. They were evaluated using a standardized test of driving in a 140-centimetre square. Testing was conducted on high-friction rubber and low-friction artificial ice …
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Indoor Localization of Wheeled Robots using Multi-sensor Data Fusion with Event-based Measurements
In the era in which the robots have started to live and work everywhere and in close contact with humans, they should accurately know their own location at any time to be able to move and perform safely. In particular, large and crowded indoor environments are challenging scenarios for robots' …
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Development of an Inertially-Actuated Passive Dynamic Technique to Enable Single-Step Climbing by Wheeled Robots
… stability and simple dynamics of motion, wheeled robots are very common in robotics applications. Many highly complex robots are being developed in research laboratories, but wheeled robots remain the most used robot in real-world situations. One of the most significant downfalls of …
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A Hierarchical Algorithm for Probabilistically Complete Path Planning in Multi-Floor Environments
… is increasingly important in robotics. For wheeled robots, these environments can be conveniently modeled as a set of 2D maps, representing floors, connected by “wormholes”, which represent elevators and other between-floor connections. The full topological structure of the space can thus be …
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Modelling, design, and control of a spherical rolling robot
Spherical rolling robots offer a number of advantages over traditional wheeled robots. Their geometry allows for increased mobility and the inability to tip over, while their enclosed design provides protection for the electronic and mechanical components driving the robot. However, these …
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Design and Development of a Novel Reconfigurable Wheeled Robot for Off-Road Applications
… terrain is one of the most challenging tasks for wheeled robots. To achieve mobility over this terrain, a high agility wheeled robot should adapt and react fast to optimally traverse this challenging environment. Therefore, this dissertation is geared towards the design and development of a novel …
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Adaptive control of a DDMR with a Robotic Arm
… overcome by making the robotic arm mobile. Such robots, which comprise a robotic manipulator installed on a wheeled mobile platform, are called mobile robots. A mobile manipulator can attain a position in space which a robotic arm with fixed base may not be able to reach otherwise. To be …
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Manipulation-Driven Adaptation for Enhancing Mobile Robot Efficiency and Versatility
Terrestrial mobile robotics are crucial to a range of missions including planetary exploration, search and rescue, logistics, and national security. Many of these missions require the robot to operate on a broad variety of terrain. Physical adaptation can enable a robot to intelligently interact …