In this paper, we develop a soft mobile robot capable of high mobility and self-sensing for obstacle detection and avoidance. In addition, little attempt has been made to study the obstacle-detection capability of a soft mobile robot. However, there are limited efforts in the literature to explore the mobility of soft robots. Extensive studies have been conducted on movement mechanisms of traditional hard-bodied robots to increase their mobility. High mobility combined with the sensing systems that can detect obstacles plays a significant role in performing surveillance tasks. Soft robots have shown great potential for surveillance applications due to their interesting attributes including inherent flexibility, extreme adaptability, and excellent ability to move in confined spaces. Qin, Lei Tang, Yucheng Gupta, Ujjaval Zhu, Jian Experimental results are also presented for validation purposes.Ī soft robot capable of 2D mobility and self-sensing for obstacle detection and avoidance Design optimization is conducted to enhance the obstacle detection performance and detailed avoidance strategies are devised. The proposed system can detect not only the presence, but also the approaching direction of a ferromagnetic obstacle, therefore, an intelligent avoidance behavior can be generated by adapting the trajectory tracking method with the detection information. It utilizes a passive magnetic field so that the system is both compact and power efficient. In this paper, a compact magnetic field-based obstacle detection and avoidance system has been developed for miniature spherical robots. However, for small scale spherical robots that contain sensitive surveillance sensors and cannot afford to utilize heavy protective shells, the absence of obstacle avoidance solutions would leave the robot at the mercy of potentially dangerous obstacles. Without protruding components, they will not become stuck and can simply roll back after running into bstacles. Most of the existing spherical robots rely on the "hit and run" technique, which has been argued to be a reasonable strategy because spherical robots have an inherent ability to recover from collisions. Numerous studies have been conducted on the driving mechanism, motion planning and trajectory tracking methods of spherical robots, yet very limited studies have been conducted regarding the obstacle avoidance capability of spherical robots. Wu, Fang Vibhute, Akash Soh, Gim Song Wood, Kristin L Foong, Shaohuiĭue to their efficient locomotion and natural tolerance to hazardous environments, spherical robots have wide applications in security surveillance, exploration of unknown territory and emergency response. A Compact Magnetic Field-Based Obstacle Detection and Avoidance System for Miniature Spherical Robots.
0 Comments
Leave a Reply. |
Details
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |