Most minirobot platforms have the ability to perform translational and rotational motions in a decoupled way. This is an important feature, which allows the robot to go to any desired position and/or orientation. However, in practice, real robot motions are far from accurate, and control strategies using either internal or external sensors must be implemented, e.g. to achieve a straight trajectory. Such a trajectory is very helpful in structured environments like rooms and corridors. The author presents a mechanical design, with a moderate complexity, which is capable of making the robot go straight while still allowing it to turn in place. The resulting robot is a differential drive design, where motors do not drive directly the wheels: one of them makes the robot move forward or backward, and the other motor makes it turn in place. Of course, both motors can be run simultaneously. Experiments demonstrate the feasibility of the design, and the quality of the achieved trajectories. This platform considerably alleviates the difficulties of robot control. allowing the user to concentrate in higher level tasks.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Going straight: a lego-based minirobot drive system


    Beteiligte:
    Cervera, E. (Autor:in)


    Erscheinungsdatum :

    2001


    Format / Umfang :

    10 Seiten, 6 Bilder, 1 Tabelle, 8 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    LEGO-Gießroboter

    Azovskyi, Ihor | DataCite | 2025

    Freier Zugriff

    Signalized intersection straight-going waiting area length design method and system

    GAO WENXUAN / ZHOU JUN / LIANG KUN et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Straight-going manned auxiliary elevator for double-deck bus

    JIA CEWEN / HU TIANQI / QI WENGUANG | Europäisches Patentamt | 2022

    Freier Zugriff

    Method for judging setting of straight-going waiting area on straight-right lane at intersection

    WANG QIANG / ZHOU YANG / WU HAIYANG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    16.660 LEGO Simulation Presentation

    Bo Madsen / Hugh McManus / Earll Murman et al. | OERSI

    Freier Zugriff