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INTRODUCTION TO
Mobile Robot Locomotion
Aditya KurniawanMechatronics EngineeringPOLTEKOM [email protected]
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WHAT IS A ROBOT?
ROBOT is an electromechanical (mechatronic) system with sensing, intelligence, or mobility
To be qualified as a robot, a machine has to be able to:
1) Sensing and perception: get information from its surroundings
2) Carry out different tasks: Locomotion or manipulation, do something physical–such as move or manipulate objects
3) Re-programmable: can do different things
4) Function autonomously and interact with human beings
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Wheeled mobile robots
Legged robots
Aerial robots (UAVs) / Unmanned Aerial Vehicles)
Underwater robots
Humanoid robots
Type of Mobile Robot
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Basic of Mobile Robot• POSITION Principle in mobile robot
Position is a 2 dimensional plane on a cartesian axes which could be defined from its value stated on each axes (X,Y)
Reference line
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Mobile Based Robot• POSITION of mobile robot
POSITION : (X,Y)
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Basic of Mobile Robot• ORIENTATION Principle in mobile robot
Orientation is a degree on a dimensional plane on a cartesian axes which could be defined as degree range from 0-360
Reference line
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Mobile Based Robot• ORIENTATION of mobile robot
POSITION : (Φ)
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Mobile Based Robot• POSTURE of mobile robot
Posture is a mobile robot dimensional statement that state both a POSITION, and an ORIENTATION
POSTURE : (X,Y,Φ)
Mobile Based Robot• POSTURE of mobile robot
Example :
POSTURE : (X2,Y3, Φ 45˚)
Basic of Mobile Robot• ORIENTATION Principle in mobile robot
Orientation is a degree on a dimensional plane on a cartesian axes which could be defined as degree range from 0-360
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45 ˚
Basic of Mobile Robot• ORIENTATION Principle in mobile robot
Orientation is a degree on a dimensional plane on a cartesian axes which could be defined as degree range from 0-360
2
3
45 ˚
Basic of Mobile Robot• ORIENTATION Principle in mobile robot
Orientation is a degree on a dimensional plane on a cartesian axes which could be defined as degree range from 0-360
Center of position
Basic of Mobile Robot• Motion parameter on mobile robotic
Wheel distance
Basic of Mobile Robot• Motion parameter on mobile robotic
Wheel diameter
Basic of Mobile Robot• Motion parameter on mobile robotic
Rotational speed
Basic of Mobile Robot• Arc on the wheel
Arc
Φ
Mobile Based Robot• Motion principle
• Motion principle
Linier motion (linier disposition)
Circular motion
Mobile Based Robot
Center motion
• Type of wheeled mobile robot
Mobile Based Robot
Smooth motion Risk of slipping Some times use roller-
ball to make balance Bi-wheel type robot
Omnidirectional robot
Caterpillar type robot
Exact straight motion Robust to slipping Inexact modeling of
turning
Free motion Complex structure Weakness of the frame
Mobile Based RobotFixed wheel Centered orientable wheel
Off-centered orientable wheel (Castor wheel) Swedish wheel:omnidirectional
property
Mobile Based Robot
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