Design of a three-wheel omni-directional mobile robot base module : a thesis in the partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics at Massey University, Turitea Campus, Palmerston North, New Zealand

In this research, the aim is to develop a modular autonomous mobile robot base that has a certain degree of flexibility and cost effectiveness for some indoor mobile robot applications that may have limited maneuverable space. The structure of the mobile robot and the wheel design are the major investigation areas. A modular mobile robot construction that is able to quickly integrate with different wheels and add on sub-systems has been developed for this project. The experiments made on the test model are positive. In this project, the mobile robot is built with omni-directional wheels. The omni-directional wheels make the mobile robot maneuverable in its motions. The shape of the mobile robot, base and number of wheels that are mounted on the mobile robot were decided based on the structure of the omni-directional wheels. Modular design makes the omni-directional mobile robot a very practical application. Most of the parts in the omni-directional mobile robot can be easily replaced and reused. The mobile robot itself is constrained to be one that is inexpensive and simple. This would allow others to replicate its concept and improve on it. The control system can be improved by simply replacing the control circuit board on the mobile robot. The new control system can be easily integrated with the peripheral devices, such as motors and sensors. Moreover, the size of the mobile robot base is adjustable , which makes this base design valuable for those who are interested in the development of omni-directional robot applications but are concerned about the size of the robot

An Integrated Software-based Solution for Modular and Self-independent Networked Robot

An integrated software-based solution for a modular and self-independent networked robot is introduced. The wirelessly operatable robot has been developed mainly for autonomous monitoring works with full control over web. The integrated software solution covers three components : a) the digital signal processing unit for data retrieval and monitoring system; b) the externally executable codes for control system; and c) the web programming for interfacing the end-users with the robot. It is argued that this integrated software-based approach is crucial to realize a flexible, modular and low development cost mobile monitoring apparatus.Comment: 9 pages, Proceeding of the 10th International Conference on Control, Automation, Robotics and Visio

Towards Python-based Domain-specific Languages for Self-reconfigurable Modular Robotics Research

This paper explores the role of operating system and high-level languages in the development of software and domain-specific languages (DSLs) for self-reconfigurable robotics. We review some of the current trends in self-reconfigurable robotics and describe the development of a software system for ATRON II which utilizes Linux and Python to significantly improve software abstraction and portability while providing some basic features which could prove useful when using Python, either stand-alone or via a DSL, on a self-reconfigurable robot system. These features include transparent socket communication, module identification, easy software transfer and reliable module-to-module communication. The end result is a software platform for modular robots that where appropriate builds on existing work in operating systems, virtual machines, middleware and high-level languages.Comment: Presented at DSLRob 2011 (arXiv:1212.3308

The Problem of Adhesion Methods and Locomotion Mechanism Development for Wall-Climbing Robots

This review considers a problem in the development of mobile robot adhesion methods with vertical surfaces and the appropriate locomotion mechanism design. The evolution of adhesion methods for wall-climbing robots (based on friction, magnetic forces, air pressure, electrostatic adhesion, molecular forces, rheological properties of fluids and their combinations) and their locomotion principles (wheeled, tracked, walking, sliding framed and hybrid) is studied. Wall-climbing robots are classified according to the applications, adhesion methods and locomotion mechanisms. The advantages and disadvantages of various adhesion methods and locomotion mechanisms are analyzed in terms of mobility, noiselessness, autonomy and energy efficiency. Focus is placed on the physical and technical aspects of the adhesion methods and the possibility of combining adhesion and locomotion methods

CORBYS cognitive control architecture for robotic follower

In this paper the novel generic cognitive robot control architecture CORBYS is presented. The objective of the CORBYS architecture is the integration of high-level cognitive modules to support robot functioning in dynamic environments including interacting with humans. This paper presents the preliminary integration of the CORBYS architecture to support a robotic follower. Experimental results on high-level empowerment-based trajectory planning have demonstrated the effectiveness of ROS-based communication between distributed modules developed in a multi-site research environment as typical for distributed collaborative projects such as CORBYS