Skip to main content
SpringerLink
Log in

Modeling Tracks and Controller for Servosila Engineer Robot

  • Conference paper
  • First Online:
Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”

Part of the book series: Smart Innovation, Systems and Technologies ((SIST,volume 154))

Abstract

Modeling is an important part of solving any problem in robotics. Models let our opportunity to make mistakes that could break real robot and learn on these mistakes causing no damage to the robot. This paper presents a creation of model for crawler robot “Servosila Engineer.” In this model, tracks were replaced by big count of small wheels to get construction physically close to the track but with simple realization for simulation. To test efficiency of model was created three groups of controllers: for ground tracks wheels, flippers and flippers tracks wheels. This model takes into account mistakes made creating previous version and has opportunity to be used in teleoperation mode. To create controller, we tried some base types of controllers represented by Gazebo plugin. Created model and controller are integrated with Gazebo simulation system and ROS framework and will be used in our future researches.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Kohrt, C., et al.: An online robot trajectory planning and programming support system for industrial use. Robot. Comput. Integr. Manufact. 29(1), 71–79 (2013)

    Article  Google Scholar 

  2. Tsarouchi, P., Michalos, G., Makris, S., Chryssolouris, G.: Vision system for robotic handling of randomly placed objects. Procedia CIRP 9, 61–66 (2013)

    Article  Google Scholar 

  3. Sagitov, A., Tsoy, T., Li, H., Magid, E.: Automated open wound suturing: detection and planning algorithm. J. Robot. Network. Artif. Life 5(2), 144–148 (2018)

    Article  Google Scholar 

  4. Fujita, M., Kitano, H.: Development of an autonomous quadruped robot for robot entertainment. Auton. Robots 5(1), 7–18 (1998)

    Article  Google Scholar 

  5. Chirikjian, G.S., Zhou, Y., Suthakorn, J.: Self-replicating robots for lunar development. IEEE/ASME Trans. Mechatron. 7(4), 462–472 (2002)

    Article  Google Scholar 

  6. Motienko, A.I., Ronzhin, A.L., Pavljuk, N.A.: The modern development of rescue robots, opportunities and principles of their application. Sci. Bull. NSTU 60, 147–165 (2015)

    Google Scholar 

  7. Ohno, K., et al.: Semi-autonomous control system of rescue crawler robot having flippers for getting over unknown-steps. In: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, pp. 3012–3018 (2007)

    Google Scholar 

  8. Wong, C., Yang, E., Yan, X. T., Gu, D.: An overview of robotics and autonomous systems for harsh environments. In: 2017 23rd International Conference on Automation and Computing (ICAC), pp. 1–6 (2017)

    Google Scholar 

  9. Nagatani, K., et al.: Multirobot exploration for search and rescue missions: a report on map building in RoboCupRescue 2009. J. Field Robot. 28(3), 373–387 (2011)

    Article  Google Scholar 

  10. Harbers, M., et al: Exploring the ethical landscape of robot-assisted search and rescue. In: A World with Robots, pp. 93–107 (2017)

    Chapter  Google Scholar 

  11. Magid, E., Lavrenov, R., Afanasyev, I.: Voronoi-based trajectory optimization for UGV path planning. In: 2017 International Conference on Mechanical, System and Control Engineering (ICMSC), IEEE, pp. 383–387 (2016)

    Google Scholar 

  12. Magid, E., Tsubouchi, T.: Static balance for rescue robot navigation-translation motion discretization issue within random step environment. In: 7th Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics (ICINCO), vol. 2, pp. 415–422 (2010)

    Google Scholar 

  13. Rivlin, G.F.E., Shimshoni, I., Soldea, O.: Efficient search and verification for function based classification from real range images. Comput. Vis. Image Underst. 105(3), 200–217 (2007)

    Article  Google Scholar 

  14. Ronzhin, A.L., Vatamanyuk, I.V., Ronzhin, A.L., Železnỳ, M.: Mathematical methods to estimate image blur and recognize faces in the system of automatic conference participant registration. Autom. Remote Control 76(11), 2011–2020 (2015)

    Article  Google Scholar 

  15. Magid, E., Tsubouchi, T., Koyanagi, E., Yoshida, T.: Static balance for rescue robot navigation: losing balance on purpose within random step environment. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 349–356 (2010)

    Google Scholar 

  16. Jacoff, A., Downs, A., Virts, A., Messina, E.: Stepfield pallets: repeatable terrain for evaluating robot mobility. In Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems, pp. 29–34 (2008)

    Google Scholar 

  17. Okada, Y.: Shared autonomy system for tracked vehicles to traverse rough terrain based on continuous three-dimensional terrain scanning. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 357–362 (2010)

    Google Scholar 

  18. Sokolov, M., et al. Modelling a crawler-type UGV for urban search and rescue in Gazebo environment. In: International Conference on Artificial Life and Robotics, pp. 360–363 (2016)

    Article  Google Scholar 

  19. Akai, N.: Autonomous driving based on accurate localization using multilayer LiDAR and dead reckoning. In: 2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC), IEEE, pp. 1–6 (2017)

    Google Scholar 

  20. Xie, S.: The research on obstacle-surmounting capability of six-track robot with four swing arms. In: 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 2441–2445 (2013)

    Google Scholar 

  21. Sheng, W., Chen, H., Xi, N.: Navigating a miniature crawler robot for engineered structure inspection. IEEE Trans. Autom. Sci. Eng. 5(2), 368–373 (2008)

    Article  Google Scholar 

  22. Calisi, D., Nardi, D., Ohno, K., Tadokoro, S.: A semi-autonomous tracked robot system for rescue missions. In: 2008 SICE Annual Conference, pp. 2066–2069 (2008)

    Google Scholar 

  23. Pecka, M., Zimmermann, K., Svoboda, T.: Fast simulation of vehicles with non-deformable tracks. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6414–6419 (2017)

    Google Scholar 

  24. Dissanayake, M., Sattar, T.P., Howlader, O., Pinson, I., Gan, T.H.: Tracked-wheel crawler robot for vertically aligned mooring chain climbing design, simulation and validation of a climbing robot for mooring chains. In: 2017 IEEE International Conference on Industrial and Information Systems (ICIIS), pp. 1–6 (2017)

    Google Scholar 

  25. Mavrin, I., Lavrenov, R., Svinin, M., Sorokin, S., Magid, E. Remote control library and GUI development for Russian crawler robot Servosila Engineer. In: MATEC Web of Conferences, EDP Sciences, vol. 161, p. 03016 (2018)

    Article  Google Scholar 

Download references

Acknowledgements

This work was supported by the Russian Foundation for Basic Research (RFBR), project ID 19-58-70002.

Author information

Authors and Affiliations

  1. Laboratory of Intelligent Robotic Systems (LIRS), Intelligent Robotics Department, Higher Institute for Information Technology and Intelligent Systems, Kazan Federal University, Kazan, Russia

    Ilya Moskvin & Roman Lavrenov

Authors
  1. Ilya Moskvin
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Roman Lavrenov
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Ilya Moskvin .

Editor information

Editors and Affiliations

  1. St. Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. Saint Petersburg State University of Aerospace Instrumentation, St. Petersburg, Russia

    Vladislav Shishlakov

Rights and permissions

Reprints and permissions

Copyright information

© 2020 Springer Nature Singapore Pte Ltd.

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Moskvin, I., Lavrenov, R. (2020). Modeling Tracks and Controller for Servosila Engineer Robot. In: Ronzhin, A., Shishlakov, V. (eds) Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”. Smart Innovation, Systems and Technologies, vol 154. Springer, Singapore. https://doi.org/10.1007/978-981-13-9267-2_33

Download citation

Publish with us

Policies and ethics

Search

Navigation