Publicação
Hybrid legged-wheeled robot path following: a realistic simulation approach
| Resumo: | Legged-wheeled locomotion systems are a particular case of robot types that can be characterized by an increase in the degrees of freedom. To increase safety and robustness in the performance of industrial robots, while reducing the risk of damage to the robot joints and injure to human operators, the use of non-rigid joints is growing in the literature and in the industry. Realistic simulators are tools capable of detecting rigid bodies interactions through physics engines. This paper presents the simulation model of a hybrid legged wheeled robot, built in the SimTwo simulator. The proposed algorithms for path following control are detailed, along with the tests performed to them. These showed that the errors in linear paths are at most 1 cm. For circular paths, the maximum error is 3 cm. |
|---|---|
| Autores principais: | Pinto, Vítor H. |
| Outros Autores: | Soares, Inês N.; Ribeiro, Francisco; Lima, José; Gonçalves, José; Costa, Paulo Gomes da |
| Assunto: | Modeling Simulation Hybrid legged-wheeled robot Path following Algorithms |
| Ano: | 2022 |
| País: | Portugal |
| Tipo de documento: | comunicação em conferência |
| Tipo de acesso: | acesso restrito |
| Instituição associada: | Instituto Politécnico de Bragança |
| Idioma: | inglês |
| Origem: | Biblioteca Digital do IPB |
| _version_ | 1867173269538340864 |
|---|---|
| author | Pinto, Vítor H. |
| author2 | Soares, Inês N. Ribeiro, Francisco Lima, José Gonçalves, José Costa, Paulo Gomes da |
| author2_role | author author author author author |
| author_facet | Pinto, Vítor H. Soares, Inês N. Ribeiro, Francisco Lima, José Gonçalves, José Costa, Paulo Gomes da |
| author_role | author |
| contributor_name_str_mv | Biblioteca Digital do IPB |
| country_str | PT |
| creators_json_txt | [{\"Person.name\":\"Pinto, Vítor H.\"},{\"Person.name\":\"Soares, Inês N.\"},{\"Person.name\":\"Ribeiro, Francisco\"},{\"Person.name\":\"Lima, José\",\"Person.identifier.orcid\":\"0000-0001-7902-1207\"},{\"Person.name\":\"Gonçalves, José\",\"Person.identifier.orcid\":\"0000-0002-5499-1730\"},{\"Person.name\":\"Costa, Paulo Gomes da\"}] |
| datacite.contributors.contributor.contributorName.fl_str_mv | Biblioteca Digital do IPB |
| datacite.creators.creator.creatorName.fl_str_mv | Pinto, Vítor H. Soares, Inês N. Ribeiro, Francisco Lima, José Gonçalves, José Costa, Paulo Gomes da |
| datacite.date.Accepted.fl_str_mv | 2022-01-01T00:00:00Z |
| datacite.date.available.fl_str_mv | 2023-03-08T12:19:45Z |
| datacite.date.embargoed.fl_str_mv | 2023-03-08T12:19:45Z |
| datacite.rights.fl_str_mv | http://purl.org/coar/access_right/c_16ec |
| datacite.subjects.subject.fl_str_mv | Modeling Simulation Hybrid legged-wheeled robot Path following Algorithms |
| datacite.titles.title.fl_str_mv | Hybrid legged-wheeled robot path following: a realistic simulation approach |
| dc.contributor.none.fl_str_mv | Biblioteca Digital do IPB |
| dc.creator.none.fl_str_mv | Pinto, Vítor H. Soares, Inês N. Ribeiro, Francisco Lima, José Gonçalves, José Costa, Paulo Gomes da |
| dc.date.Accepted.fl_str_mv | 2022-01-01T00:00:00Z |
| dc.date.available.fl_str_mv | 2023-03-08T12:19:45Z |
| dc.date.embargoed.fl_str_mv | 2023-03-08T12:19:45Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | http://hdl.handle.net/10198/27560 |
| dc.language.none.fl_str_mv | eng |
| dc.publisher.none.fl_str_mv | Springer |
| dc.rights.cclincense.fl_str_mv | http://creativecommons.org/licenses/by/4.0/ |
| dc.rights.none.fl_str_mv | http://purl.org/coar/access_right/c_16ec |
| dc.subject.none.fl_str_mv | Modeling Simulation Hybrid legged-wheeled robot Path following Algorithms |
| dc.title.fl_str_mv | Hybrid legged-wheeled robot path following: a realistic simulation approach |
| dc.type.none.fl_str_mv | http://purl.org/coar/resource_type/c_5794 |
| description | Legged-wheeled locomotion systems are a particular case of robot types that can be characterized by an increase in the degrees of freedom. To increase safety and robustness in the performance of industrial robots, while reducing the risk of damage to the robot joints and injure to human operators, the use of non-rigid joints is growing in the literature and in the industry. Realistic simulators are tools capable of detecting rigid bodies interactions through physics engines. This paper presents the simulation model of a hybrid legged wheeled robot, built in the SimTwo simulator. The proposed algorithms for path following control are detailed, along with the tests performed to them. These showed that the errors in linear paths are at most 1 cm. For circular paths, the maximum error is 3 cm. |
| dirty | 0 |
| eu_rights_str_mv | restrictedAccess |
| format | conferencePaper |
| fulltext.url.fl_str_mv | https://bibliotecadigital.ipb.pt/bitstreams/f5e1c918-ca8e-43f8-82da-ca6f744672ad/download |
| funding.funder.alternateName_str_mv | FCT |
| funding.funder.identifier_str_mv | http://doi.org/10.13039/501100001871 |
| funding.funder.name_str_mv | Fundação para a Ciência e a Tecnologia |
| funding.name_str_mv | 6817 - DCRRNI ID |
| id | ipb_bf45ef2bb06ef48e2376a5c0acf77838 |
| identifier.url.fl_str_mv | http://hdl.handle.net/10198/27560 |
| instacron_str | ipb |
| institution | Instituto Politécnico de Bragança |
| instname_str | Instituto Politécnico de Bragança |
| language | eng |
| network_acronym_str | ipb |
| network_name_str | Biblioteca Digital do IPB |
| oai_identifier_str | oai:bibliotecadigital.ipb.pt:10198/27560 |
| organization_str_mv | urn:organizationAcronym:ipb |
| person_str_mv | Pinto, Vítor H. Soares, Inês N. Ribeiro, Francisco Lima, José Lima, José https://www.ciencia-id.pt/6016-C902-86A9 6016-C902-86A9 http://orcid.org/0000-0001-7902-1207 0000-0001-7902-1207 Gonçalves, José Gonçalves, José https://www.ciencia-id.pt/8112-DCE2-D025 8112-DCE2-D025 http://orcid.org/0000-0002-5499-1730 0000-0002-5499-1730 Costa, Paulo Gomes da |
| publishDate | 2022 |
| publisher.none.fl_str_mv | Springer |
| reponame_str | Biblioteca Digital do IPB |
| repository_id_str | urn:repositoryAcronym:ipb |
| service_str_mv | urn:repositoryAcronym:ipb |
| spelling | engSpringerpt_PTLegged-wheeled locomotion systems are a particular case of robot types that can be characterized by an increase in the degrees of freedom. To increase safety and robustness in the performance of industrial robots, while reducing the risk of damage to the robot joints and injure to human operators, the use of non-rigid joints is growing in the literature and in the industry. Realistic simulators are tools capable of detecting rigid bodies interactions through physics engines. This paper presents the simulation model of a hybrid legged wheeled robot, built in the SimTwo simulator. The proposed algorithms for path following control are detailed, along with the tests performed to them. These showed that the errors in linear paths are at most 1 cm. For circular paths, the maximum error is 3 cm.application/pdfpt_PTHybrid legged-wheeled robot path following: a realistic simulation approachPinto, Vítor H.Soares, Inês N.Ribeiro, FranciscoPersonalLima, JoséDSpacehttp://dspace.org/items/d88c2b2a-efc2-48ef-b1fd-1145475e0055DSpacehttp://dspace.org/items/d88c2b2a-efc2-48ef-b1fd-1145475e0055LimaJoséCiência IDhttps://www.ciencia-id.pt6016-C902-86A9ORCIDhttp://orcid.org0000-0001-7902-1207Researcher IDhttps://www.researcherid.comL-3370-2014Scopus Author IDhttps://www.scopus.com55851941311PersonalGonçalves, JoséDSpacehttp://dspace.org/items/6a3b0b39-7fe9-4450-94f4-ced3941947daDSpacehttp://dspace.org/items/6a3b0b39-7fe9-4450-94f4-ced3941947daGonçalvesJoséCiência IDhttps://www.ciencia-id.pt8112-DCE2-D025ORCIDhttp://orcid.org0000-0002-5499-1730Researcher IDhttps://www.researcherid.comB-8547-2018Scopus Author IDhttps://www.scopus.com48361230200Costa, Paulo Gomes daHostingInstitutionOrganizationalBiblioteca Digital do IPBe-mailmailto:dspace@ipb.ptdspace@ipb.ptDOIIsPartOf10.1007/978-3-031-10047-5_62023-03-08T12:19:45Z20222022-01-01T00:00:00ZHandlehttp://hdl.handle.net/10198/27560http://purl.org/coar/access_right/c_16ecrestricted accessModelingSimulationHybrid legged-wheeled robotPath followingAlgorithms1992474 bytesFundação para a Ciência e a TecnologiaResearch Centre in Digitalization and Intelligent Robotics6817 - DCRRNI IDCrossref Funder IDhttp://doi.org/10.13039/501100001871other research producthttp://purl.org/coar/resource_type/c_5794conference paper2022http://creativecommons.org/licenses/by/4.0/http://purl.org/coar/access_right/c_16ecapplication/pdffulltexthttps://bibliotecadigital.ipb.pt/bitstreams/f5e1c918-ca8e-43f8-82da-ca6f744672ad/download15th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 20229306172Caparica |
| spellingShingle | Hybrid legged-wheeled robot path following: a realistic simulation approach Pinto, Vítor H. Modeling Simulation Hybrid legged-wheeled robot Path following Algorithms |
| status | SINGLETON |
| subject.fl_str_mv | Modeling Simulation Hybrid legged-wheeled robot Path following Algorithms |
| title | Hybrid legged-wheeled robot path following: a realistic simulation approach |
| title_full | Hybrid legged-wheeled robot path following: a realistic simulation approach |
| title_fullStr | Hybrid legged-wheeled robot path following: a realistic simulation approach |
| title_full_unstemmed | Hybrid legged-wheeled robot path following: a realistic simulation approach |
| title_short | Hybrid legged-wheeled robot path following: a realistic simulation approach |
| title_sort | Hybrid legged-wheeled robot path following: a realistic simulation approach |
| topic | Modeling Simulation Hybrid legged-wheeled robot Path following Algorithms |
| topic_facet | Modeling Simulation Hybrid legged-wheeled robot Path following Algorithms |
| url | http://hdl.handle.net/10198/27560 |
| visible | 1 |