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Mobile robot concept with walking wheels made of rotary segments

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24220%2F17%3A00004497" target="_blank" >RIV/46747885:24220/17:00004497 - isvavai.cz</a>

  • Result on the web

    <a href="http://xplorestaging.ieee.org/ielx7/7960134/7970353/07970467.pdf?arnumber=7970467" target="_blank" >http://xplorestaging.ieee.org/ielx7/7960134/7970353/07970467.pdf?arnumber=7970467</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1109/CarpathianCC.2017.7970467" target="_blank" >10.1109/CarpathianCC.2017.7970467</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Mobile robot concept with walking wheels made of rotary segments

  • Original language description

    Crossing over obstacles or riding up in steep terrain is still not completely solved problem in wheeled-mobile robotics. This paper describes a concept of four-wheeled mobile robot with unique patented wheels made of rotary segments. Rotation of segments changes the surface of wheels from normal wheel for movement on roads or flat ground to wheels for movement in terrain, over obstacles or upstairs. For control of walking-wheels a drive stored in an aluminium frame was build. The drive allows to set its shaft into two position. One for control of movement of the drive and second for control of opening and closing of wheel segments. Current feedback regulator is in the frame of drive. PLC with smart device controller (SDC) structure is used for control of the mobile robot. It allows to control drives without specialized motion control units. The main goal of this paper is to describe a mechanical construction of this mobile robot, its drives and basics of software motion control for further testing of mobile robot wheels on different terrains in different environments.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • OECD FORD branch

    20204 - Robotics and automatic control

Result continuities

  • Project

  • Continuities

    S - Specificky vyzkum na vysokych skolach

Others

  • Publication year

    2017

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    2017 18th International Carpathian Control Conference, ICCC 2017

  • ISBN

    978-150904862-5

  • ISSN

  • e-ISSN

  • Number of pages

    5

  • Pages from-to

    583-587

  • Publisher name

    IEEE

  • Place of publication

    Sinaia

  • Event location

    Palace HotelSinaia; Romania

  • Event date

    Jan 1, 2017

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article