Internet of Robotic Things (IoRT) and Metaheuristic Optimization Techniques Applied for Wheel-Legged Robot

Mateusz Malarczyk, Grzegorz Kaczmarczyk, Jaroslaw Szrek and Marcin Kaminski ()
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Mateusz Malarczyk: Department of Electrical Machines, Drives and Measurements, Faculty of Electrical Engineering, Wroclaw University of Science and Technology, Smoluchowskiego 19, 50-372 Wroclaw, Poland
Grzegorz Kaczmarczyk: Department of Electrical Machines, Drives and Measurements, Faculty of Electrical Engineering, Wroclaw University of Science and Technology, Smoluchowskiego 19, 50-372 Wroclaw, Poland
Jaroslaw Szrek: Department of Fundamentals of Machine Design and Mechatronic Systems, Faculty of Mechanical Engineering, Wroclaw University of Science and Technology, Lukasiewicza 7/9, 50-372 Wroclaw, Poland
Marcin Kaminski: Department of Electrical Machines, Drives and Measurements, Faculty of Electrical Engineering, Wroclaw University of Science and Technology, Smoluchowskiego 19, 50-372 Wroclaw, Poland

Future Internet, 2023, vol. 15, issue 9, 1-19

Abstract: This paper presents the operation of a remotely controlled, wheel-legged robot. The developed Wi-Fi connection framework is established on a popular ARM microcontroller board. The implementation provides a low-cost solution that is in congruence with the newest industrial standards. Additionally, the problem of limb structure and motor speed control is solved. The design process of the mechanical structure is enhanced by a nature-inspired metaheuristic optimization algorithm. An FOC-based BLDC motor speed control strategy is selected to guarantee dynamic operation of the drive. The paper provides both the theoretical considerations and the obtained prototype experimental results.

Keywords: Internet of Robotic Things; wheel-legged robot; flower pollination algorithm; metaheuristic optimization; remote control; Wi-Fi (search for similar items in EconPapers)
JEL-codes: O3 (search for similar items in EconPapers)
Date: 2023
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