Mobile & Service Robotics Mobile & Service Robotics - - PowerPoint PPT Presentation

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Mobile & Service Robotics Mobile & Service Robotics - - PowerPoint PPT Presentation

Jan 08, 2024 139 likes •479 views

Mobile & Service Robotics Mobile & Service Robotics Introduction and Locomotio Introduction and Locomotion Introduction and Locomotio Introduction and Locomotion Basilio Bona 1 ROBOTICA 03CFIOR Definitions A mobile robot is a

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Mobile & Service Robotics Mobile & Service Robotics

Introduction and Locomotio Introduction and Locomotion Introduction and Locomotio Introduction and Locomotion

Basilio Bona ROBOTICA 03CFIOR 1

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Definitions

A mobile robot is a structure capable to move (autonomously

  • r tele‐operated) in terrestrial, underwater or aerial

environments Environments my be

totally structured, partially structured or unstructured totally known, partially known or unknown

Structured environment = one knows the type and the geometric characteristics of the environment

  • ffice space: corridors, doors, chairs, tables, etc.
  • bstacles: static or dynamics or both

y constant or varying in time

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Autonomy

Autonomy is the ability to move independently from a human supervisor It requires q

Intelligence

CPU, database, algorithms , , g

  • nboard or outboard (tele‐guided by radio beams or cable)

Sensors Actuators (for motion and manipulation, etc.) Energy: onboard generated or supplied by an “umbilical cord” gy g pp y

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Examples

partially structured structured partially structured unstructured

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Fundamental problems

Locomotion and perception Locomotion and perception Localization Environment representation and action/path planning

  • i

Mapping Control

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Locomotion

Terrestrial robots

Wheeled Legged Mixed wheels/legs Biped (humanoids) Biped (humanoids) Others (biomimetics = imitation of natural locomotion)

Underwater robots

Propellers Water jets

Aerial robots

Fixed wings Rotating wings Rotating wings Airships and dirigibles Flapping wings Flapping wings

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Terrestrial Robots – wheeled

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Terrestrial Robots – legged

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Terrestrial Robots – “humanoids”

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Underwater Robots

To move they use

Screws or propellers Water jets Fins or entire body motion

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Aerial robots (UAV)

Airship (lighter than air) or aircrafts (heavier than air) They use

Propellers Rotating wings Flapping wings

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Natural Locomotion

Longitudinal waves Transversal waves Running Jumping Jumping Step

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Biomimesis

biomimetic systems = nature imitation y

Longitudinal waves Transversal waves Longitudinal waves Transversal waves

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Biomimesis

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Mobile Robots: topics treated

Wheeled robots Kinematics Sensors

Absolute and relative position (odometry) Absolute and relative position (odometry) Speed Proximity and distance Proximity and distance Active ranging Vision Vision

Intelligence

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Wheel Types

Simple non steering wheels Simple steering wheels p g Castor wheel Omniwheel (omnidirectional wheel) or Swedish wheel Omniwheel (omnidirectional wheel) or Swedish wheel Spherical omniwheel Wheel may be active or passive

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Simple non steering wheel

( ) t

  • β

( ) t =

  • β

( )

( ) t = β

( ) t ω ( ) ( ) t r t = v ω ( ) t

⊥

= v ( ) ( )

graphical scheme

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graphical scheme

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Simple non steering wheel

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Simple steering wheel

( ) t ≠

  • β( )

β

( ) t

  • β( )

t β ( ) t ω( ) ( )

⊥

( ) ( ) t r t = v ω ( ) t

⊥

= v

graphical scheme

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Simple steering wheel

top view front view side view front view

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Castor Wheel

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Castor Wheel

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Omniwheel – Swedish Wheel

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Omniwheel – Swedish Wheel

b) a)

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Omniwheel

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Omniwheel

Omniwheel can also be used as a support in a differential drive robot

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Omnidirectional Spherical Wheel

passive supports ti t active supports i t active supports passive supports active supports

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Wheels Symbols

simple passive non steering wheel passive castor wheel l h l simple passive steering wheel active castor wheel simple active non steering wheel

  • minidirectional wheel

simple active steering wheel passive spherical wheel p g active spherical wheel

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active spherical wheel

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Wheels Symbols

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Typical structures

Active fixed wheels + steering wheel Active fixed wheels + castor passive wheel

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Typical structures

Differential wheels + passive spherical wheels

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Typical structures

Fixed active wheel + passive omnidirectional wheel Active omnidirectional wheels

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Typical structures

Omnidirectional active wheels Omnidirectional active wheels

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