ABSTRACT
A mobile robot needs locomotion mechanisms that enable it to move unbounded throughout its environment. A large variety of possible ways to move exist in nature—walk, jump, run, slide— and these have inspired most of the locomotion mechanisms of mobile robots. Nevertheless, the wheel is a human invention that achieves extremely high efficiency on flat ground. Kinematics is the most basic study of how mechanical systems behave. In mobile robotics, need to understand the mechanical behavior of the robot both in order to design the appropriate mobile robot for each task, as well as to understand how to create control software for a defined mobile robot hardware. Perception involves a set of algorithms that transform the data obtained by the sensors into a representation that could be used by the components of the system responsible for decision making. Perception is one of the key elements that enables a mobile robot to fulfill its intrusted missions.
