Omnidirectional wheels have become popular and choose to develop for mobile robots, because they allow them to drive on a straight path from a given location on the floor to other places without having to rotate first. Moreover, the movement of translational along any desired path can be combined with a rotation, so the robot arrives to its destination at the correct angle.
Mostly omnidirectional wheels based on the same general principle; the wheel can slide frictionless in the motor axis direction while the wheel proper provides traction in the direction normal to the motor axis. In order to achieve this, the wheel is built using smaller wheels attached along the periphery of the main wheel. The kind of wheel that is using in RoboCup is small size and middle size omnidirectional robot since 2002. The wheel is a variation of the Swedish wheels, which use rollers with a rotation direction which is neither parallel nor perpendicular to the motor axis.
Two or more omnidirectional wheels are used to drive a robot movement each wheel provides traction in the direction parallel to the floor and normal to the motor axis. The forces provide and add up a translational and a rotational motion for the robot. If it were possible to mount two orthogonally oriented omnidirectional wheels right under the center of a robot with a circular base, then driving the robot in any desired direction would be trivial. To give the robot a speed, with respect to a Cartesian coordinate system attached to the robot, each wheel would just have to provide one of the two speed components.
Since the motors and wheels need some space, this simple arrangement is not possible. The wheels are usually mounted on the periphery of the chassis. It is also easier to cancel any rotational torque which could make difficult to drive the robot on a straight path. The popular configurations of omnidirectional robots are three and four-wheeled.
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R2 Humanoid Robot Designed by R2D2 Droid
We think that the first important step towards having robots sharing the same environment of human people is to figure out a set of basic behavior that allows a robot to be acceptable by humans. R2 has built a PC based robot capable of moving indoor, on a floor a building. This robot has been designed to be a research platform with a rich set of sensors and only have basic movement abilities. The robot has been designed to have a height comparable with people. It is perceived not like a toy by people interacting with it. R2 has been designed using the popular R2D2 droid from Star Wars saga as an inspiration, though the droid is slightly bigger than original.
The first application for R2 will be to stroll around the floor, helping visitors to find rooms. It will also play the role of bridge between the real world and the internet, virtual world. The several problems that faced by all robot during developing such as robust navigation with collision avoidance, route finding, vision, listening to the environment.
R2 sensors include:
• 6 sensors ultrasonic on the head.
• 24 sensors infrared distributed all around the body.
• 6 sensors light on the head.
• 1 compass equipment
• 1 camera a stereoscopic vision systems.
• 2 stereo audio microphones
• 2 state PCs both software and hardware.
• Signals of Wi-Fi.
• Signals blue tooth
• Voltmeter to check the battery.
• Switches to sense body posture.
Actuators allow the robot movement, head rotation and shape shifting.
The navigation system is structured into three layers, a first reactive layer whose goal is to avoid collisions, when no collisions are to be avoided we rely on compass to decide the direction to follow, it uses Wi-Fi signals from different access points to triangulate an approximate the robot position, to be used to check if a desired has been reached.
The first application for R2 will be to stroll around the floor, helping visitors to find rooms. It will also play the role of bridge between the real world and the internet, virtual world. The several problems that faced by all robot during developing such as robust navigation with collision avoidance, route finding, vision, listening to the environment.
R2 sensors include:
• 6 sensors ultrasonic on the head.
• 24 sensors infrared distributed all around the body.
• 6 sensors light on the head.
• 1 compass equipment
• 1 camera a stereoscopic vision systems.
• 2 stereo audio microphones
• 2 state PCs both software and hardware.
• Signals of Wi-Fi.
• Signals blue tooth
• Voltmeter to check the battery.
• Switches to sense body posture.
Actuators allow the robot movement, head rotation and shape shifting.
The navigation system is structured into three layers, a first reactive layer whose goal is to avoid collisions, when no collisions are to be avoided we rely on compass to decide the direction to follow, it uses Wi-Fi signals from different access points to triangulate an approximate the robot position, to be used to check if a desired has been reached.
Navigation and Mission Planning for Military Robotic
There are three different aspects of the military robotic that should be differentiated. Starting from the top level there is the Mission Planning, the path planning and the navigation. Mission planning is mission specific and considerably changes according to the scenario.
Firstly with the data provided by the Mission Planning, the Path Planning produces paths and waypoints taking into account the dynamic and kinematics capabilities of the robots involved in the mission. The Navigation consists in avoiding those obstacles while following the paths of initial. In order to pass or avoid obstacles and to recover from small path changes the robots must be equipped with position and distance sensors. Control architectures for navigation are deliberative generally, meaning that there is a strong coupling between the sensors data and the motion commands sent to the robot actuators. These architectures are based on simple behaviors that are combined sing BCM (Behavior Coordination Mechanism). The systems have to be at least provided the following capabilities: sensor information distribution and distributed behavior communication and coordination mechanisms in order to implement coordination.
Several navigation aspects were found vital for military purposes but not yet foreseen to be solved under the current development speed when analyzing the five selected military tasks. Following are vital gaps were found in the field of navigation and mission planning:
• Following of the autonomous road.
• Autonomous driving in mixed traffic.
• Moving in all terrains in all weather conditions.
• Following the leader, manned or autonomous.
To achieve the roadmap, following has to be done:
• Prioritize different driving conditions, concept and agree on real target scenario.
• Decide and develop experimental systems.
• Organize the trials.
• Define the performance measurements.
• Improve the navigation technology through experimental systems.
• Manage the technology group of navigation.
• Develop coordination and interaction within technology group.
Firstly with the data provided by the Mission Planning, the Path Planning produces paths and waypoints taking into account the dynamic and kinematics capabilities of the robots involved in the mission. The Navigation consists in avoiding those obstacles while following the paths of initial. In order to pass or avoid obstacles and to recover from small path changes the robots must be equipped with position and distance sensors. Control architectures for navigation are deliberative generally, meaning that there is a strong coupling between the sensors data and the motion commands sent to the robot actuators. These architectures are based on simple behaviors that are combined sing BCM (Behavior Coordination Mechanism). The systems have to be at least provided the following capabilities: sensor information distribution and distributed behavior communication and coordination mechanisms in order to implement coordination.
Several navigation aspects were found vital for military purposes but not yet foreseen to be solved under the current development speed when analyzing the five selected military tasks. Following are vital gaps were found in the field of navigation and mission planning:
• Following of the autonomous road.
• Autonomous driving in mixed traffic.
• Moving in all terrains in all weather conditions.
• Following the leader, manned or autonomous.
To achieve the roadmap, following has to be done:
• Prioritize different driving conditions, concept and agree on real target scenario.
• Decide and develop experimental systems.
• Organize the trials.
• Define the performance measurements.
• Improve the navigation technology through experimental systems.
• Manage the technology group of navigation.
• Develop coordination and interaction within technology group.
Three Sections of Robot Programming
Programming the Robot
To program the robot can be broken down into three sections, firstly the developing board, secondly the walking program, and finally the vision program. The main challenge when programming the robot was when learning the programs. Learning the programs included applying theory teammates had learned as well as communicating with others who have done similar programming.
The developing board
You can search the internet to find what you want to develop it that would be capable of executing the actions of the motors. Some of the main criteria that were necessary for developing board were features, size, how recent the technology was, and if it would have the capabilities to eventually add more advanced features in the future.
Walking program
The robot of walking program was intended to have all fifteen motors working simultaneously to allow the robot walk. The main walking program would coordinate the motion walking of legs with the movement of the arms in order to better allow it to maintain they balance. The other walking program aspect was allowing the robot to correct its hip placement before walking. This was all written by C programming language and controlled by the developing board.
Vision program
The main function of the vision program is to take the images of the camera gathers and processing them. The aspect of the robot key is having the correct type of camera. The camera has to be able to communicate with the developing board and outputs uncompressed data. The camera uncompressed data output will make it easier to program. Some others function that will be essential are speed of the image processing and the accuracy. To help the learning of this robot programming you can consult to the expert in your university. Vision program is the last section to program the robot intended to resemble incorporating both the walking and image processing.
To program the robot can be broken down into three sections, firstly the developing board, secondly the walking program, and finally the vision program. The main challenge when programming the robot was when learning the programs. Learning the programs included applying theory teammates had learned as well as communicating with others who have done similar programming.
The developing board
You can search the internet to find what you want to develop it that would be capable of executing the actions of the motors. Some of the main criteria that were necessary for developing board were features, size, how recent the technology was, and if it would have the capabilities to eventually add more advanced features in the future.
Walking program
The robot of walking program was intended to have all fifteen motors working simultaneously to allow the robot walk. The main walking program would coordinate the motion walking of legs with the movement of the arms in order to better allow it to maintain they balance. The other walking program aspect was allowing the robot to correct its hip placement before walking. This was all written by C programming language and controlled by the developing board.
Vision program
The main function of the vision program is to take the images of the camera gathers and processing them. The aspect of the robot key is having the correct type of camera. The camera has to be able to communicate with the developing board and outputs uncompressed data. The camera uncompressed data output will make it easier to program. Some others function that will be essential are speed of the image processing and the accuracy. To help the learning of this robot programming you can consult to the expert in your university. Vision program is the last section to program the robot intended to resemble incorporating both the walking and image processing.
Current uses of Humanoid Robots
Currently humanoid robots are being implemented in a wide range of industries. The most common place to find humanoid robots is in the entertainment industry. One of the popular attractions that use these robots is in the hall President at the Walt Disney World theme park Florida, America. This hall contains robots that created to imitate past and current presidents. Their life-like mannerism and appearance adds an element of humanity to attraction, while still being fascinating technologically. In terms of product that is available to customers, Sony developed a robot named Qrio which runs, dances, recognize faces, maintain its balance, and can get up if knocked over.
Currently humanoid robots are a couple popular uses that will eventually be expanded upon in the work force. These robots are being used as receptionist in large company as well as some university’s technology. Some of the capabilities of these robots are including greeting people when they enter, giving directions and transferring phone call. Security is also a popular means by humanoid robots are being introduced in the work force. Task, a Japanese company created a robot named Robo-Guard. Its capabilities are including patrolling round the clock, using an elevator, replacing its own battery and wielding a fire extinguisher.
The robot that designed by the Huazhong University of Science & Technology’s (HUST) Robot Club had several limitations, they are stood out were the lack of a torso, arms and head. Lacking these features did not allow the robot to fit the definition of a humanoid robot. Another problematic feature was the unusual design of its feet. They were unnecessarily conflicted and large with one another while in motion.
HUST Robot was able to walk Regardless of its flaws. However the walking motion was not steadily due to a poorly assembled legs structure and inadequate motors. It was capable of correcting its leg placement. Both legs straight ahead, before it given the instruction to walk forward.
Currently humanoid robots are a couple popular uses that will eventually be expanded upon in the work force. These robots are being used as receptionist in large company as well as some university’s technology. Some of the capabilities of these robots are including greeting people when they enter, giving directions and transferring phone call. Security is also a popular means by humanoid robots are being introduced in the work force. Task, a Japanese company created a robot named Robo-Guard. Its capabilities are including patrolling round the clock, using an elevator, replacing its own battery and wielding a fire extinguisher.
The robot that designed by the Huazhong University of Science & Technology’s (HUST) Robot Club had several limitations, they are stood out were the lack of a torso, arms and head. Lacking these features did not allow the robot to fit the definition of a humanoid robot. Another problematic feature was the unusual design of its feet. They were unnecessarily conflicted and large with one another while in motion.
HUST Robot was able to walk Regardless of its flaws. However the walking motion was not steadily due to a poorly assembled legs structure and inadequate motors. It was capable of correcting its leg placement. Both legs straight ahead, before it given the instruction to walk forward.
Robot Platforms in Military
The robotic platform is the glue that holds together all the other aspects of a fieldable tactical military unmanned vehicle ground. Unless the platform exhibits a high degree of outstanding ruggedness and mobility it will fail to achieve its target location. If the UGV can not deploy its sensors at the correct location then the mission is useless.
The platform should merge the system of drive, a power supply system sufficient for the required mission period, an advanced communication system capable of returning real time information to the user. A human machine interface (HMI) that allows long term, stress fire operations. The platform must have a very high immunity to interference of electro magnetic, and logically any tactical UGV must not impose a heavy load on available manpower or systems.
As all these functions rely on the platform or chassis to hold the system together, any new tactical platform must be modular in concept. Like the scientific and aircraft industries who have standards on shape and hole mounting patterns we should strive to arrive at a common standard such that any type of sensor pack could be incorporated into a UGV of a given size. Standardization on connector joining and power supplies platform and equipment together would be an advantage.
The following tactical robotic platform developments are needed:
1. Integrate and develop the latest power cell technology into the UGV.
2. Adopt the latest very high efficiency power train and motor drives systems to give very high mobility even when damage.
3. Refine track transmission and wheeled and suspension systems near term fieldable walking remote control vehicles will not be possible.
4. Use building methods and new materials to reduce mass yet retain performance including ballistic protection.
5. To develop a HMI system to ensure tactical robot do not give a high workload on user.
6. To ensure C3 systems operate in real world need to develop an EMC hardening program.
The platform should merge the system of drive, a power supply system sufficient for the required mission period, an advanced communication system capable of returning real time information to the user. A human machine interface (HMI) that allows long term, stress fire operations. The platform must have a very high immunity to interference of electro magnetic, and logically any tactical UGV must not impose a heavy load on available manpower or systems.
As all these functions rely on the platform or chassis to hold the system together, any new tactical platform must be modular in concept. Like the scientific and aircraft industries who have standards on shape and hole mounting patterns we should strive to arrive at a common standard such that any type of sensor pack could be incorporated into a UGV of a given size. Standardization on connector joining and power supplies platform and equipment together would be an advantage.
The following tactical robotic platform developments are needed:
1. Integrate and develop the latest power cell technology into the UGV.
2. Adopt the latest very high efficiency power train and motor drives systems to give very high mobility even when damage.
3. Refine track transmission and wheeled and suspension systems near term fieldable walking remote control vehicles will not be possible.
4. Use building methods and new materials to reduce mass yet retain performance including ballistic protection.
5. To develop a HMI system to ensure tactical robot do not give a high workload on user.
6. To ensure C3 systems operate in real world need to develop an EMC hardening program.
Sensing and World Modeling of Military Robotic
The mission success of any robot highly depends on world model and its sensors. The quality of sensor gathered information is important for tele-operated robots that pass this information to an operator directly, but also more for autonomous robots that use their sensor information for autonomous navigation and all sorts of autonomous robots as this is the robot’s total view on the outside world and the robot’s basis coherent execution and navigation of mission tasks.
Good world model and sensors are essential for basic information on the robot’s own location and movements, but also for tasks like route planning or automated detection, region observation, and recognition of typical targets. The right sensor to use depend on the actual tasks need to perform. For examples, current sensors are infrared sensors, CCD/HDTV sensors, acoustic and laser sensors and even radar antennas or arrays including mini SAR.
Because of the conditions variation that robots will be operated in, most sensors should be usable under all environmental conditions and weather and in all sorts of terrain. For many tasks the information should be processed on-board of the UGV, and should be efficient and effective by means of information compression and filtering of relevant information.
Concerning world modeling and sensors for military robots, following gaps were identified:
1. Obstacle negotiation and avoidance, terrain modeling and classification, and transport in normal traffic, including unstructured terrain.
2. Mine detection, de-mining, biological and chemical sensing, this gap considered not vital but important.
3. Sensor fusion at limited visibility, environmental mapping, situational awareness as well as vehicle and human detection and recognition.
The greatest challenge will be in multi sensor suites including fusion sensor, meaning that information from diverse sensors on the UGV is analyzed then merged into a more robust and complete view on the robot’s ‘outside world’ than can be achieved by any single sensor.
Good world model and sensors are essential for basic information on the robot’s own location and movements, but also for tasks like route planning or automated detection, region observation, and recognition of typical targets. The right sensor to use depend on the actual tasks need to perform. For examples, current sensors are infrared sensors, CCD/HDTV sensors, acoustic and laser sensors and even radar antennas or arrays including mini SAR.
Because of the conditions variation that robots will be operated in, most sensors should be usable under all environmental conditions and weather and in all sorts of terrain. For many tasks the information should be processed on-board of the UGV, and should be efficient and effective by means of information compression and filtering of relevant information.
Concerning world modeling and sensors for military robots, following gaps were identified:
1. Obstacle negotiation and avoidance, terrain modeling and classification, and transport in normal traffic, including unstructured terrain.
2. Mine detection, de-mining, biological and chemical sensing, this gap considered not vital but important.
3. Sensor fusion at limited visibility, environmental mapping, situational awareness as well as vehicle and human detection and recognition.
The greatest challenge will be in multi sensor suites including fusion sensor, meaning that information from diverse sensors on the UGV is analyzed then merged into a more robust and complete view on the robot’s ‘outside world’ than can be achieved by any single sensor.
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