ABSTRACT
The most important feature of a mobile robot is its locomotion. The locomotion mechanism is the basis of development of any autonomous mobile robot system. Whether the locomotion mechanism is simple or complex affects the ways motion control can be designed. Wheeled mechanisms are the most favorable for mobile robots indoors because of their mechanical simplicity and therefore high efficiency. The locomotion mechanism of the compliant, framed, wheeled, modular mobile robot is designed as a reconfigurable and homogeneous modular system such that different configurations can be formed, such as two-axle scouts, a four-axle train, and a four-axle moving platform. The kinematic model of the system would be more complicated than traditional rigid mobile robots because coordination of axle behavior must be considered. Different steering strategies associated with frame coupling would greatly affect the kinematic models. In order to evaluate the performance of different steering modes, the chapter develops metrics based upon achievable mobility and maneuverability.
