机器人学基础Mobile Robots-Chap01.pdfVIP

CHAPTER 1 Introduction 1.1 Introduction The mobile robot Sojourner was used during the Pathfinder mission to explore Mars in summer 1997. It was almost completely teleoperated from Earth. However, some on- board sensors allowed for obstacle detection Plustech developed the first application-driven walking robot. It is designed to move wood out of the forest. The leg coordination is automated, but navigation is still done by the human operator on the robot. The MagneBike robot developed by ASL (ETH Zurich) and ALSTOM. MagneBike is a magnetic wheeled robot with high mobility for inspecting complex shaped structures such as ferromagnetic pipes and turbines Sirius, an autonomous underwater vehicle Pioneer, a robot designed to explore the (AUV), controls three propellers to Sarcophagus at Chernobyl. stabilize the robot submarine autono- mously in spite of underwater turbulence and water currents. Tour-guide robots are able to interact and present exhibitions in an educational way. Ten Roboxes, developed by EPFL, have operated during five months at the Swiss exhibition EXPO.02, meeting hundreds of thousands of visitors. Autonomous guided vehicle (AGV) by SWISSLOG used to transport motor blocks from one assembly station to another. It is guided by an electrical wire installed in the floor. © Swisslog. Equipped with the Autonomous Navigation Technology (ANT) from BlueBotics, Paquito, the autonomous forklift by Esatroll, does not rely on electrical wires, magnetic plots, or reflectors, but rather uses the onboard safety lasers to localize itself with respect to the shape of the environment. HELPMATE is a mobile robot used in hospitals for t