The Ares Robot: Case Study of an Affordable Service Robot

Abstract. Robustness is pivot for robots operating in all-terrain environments. This demand comes mainly due to the highly heterogeneous and unstructured nature of the terrain. Two particular topics are sensitive to this problem: locomotion control and wheel odometry. A behaviour-based approach is proposed for the locomotion control system, whereas a heuristic exploiting the kinematic and dynamical constraints of the robot is used to enhance wheel odometry accuracy. Experimental

• Type: Conference
• Year: 2008
• Where: EUROS
• Authors: Pedro Santana, Carlos Cândido, Paulo Santos, Luís Almeida, Luís Correia, José Barata
• Keywords: EUROS 2008, Locomotion Control, Locomotion Control System, Robotics, Wheel Odometry