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References [1] ZHOU, F.-SONG, B.-TIAN, G. : Bézier Curve Based Smooth Path Planning for Mobile Robot, Journal of Information & Computational Science 8 No. 12 (2011), 2441-24450. [2] BRADSKI, G.-KAEHLER, A. : Learning OpenCV, Sebastopol: O’Reilly Media, Inc., 2008. [3], [online] - cited 29.06.2012. [4] MORVAN, Y. : Acquisition, Compression and Rendering of Depth and Texture for Multi-View Video. June 9, 2009//, http: [online] - cited

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., Development of Affordable and Powerful Swarm Mobile Robot Based on Smartphone Android and IOIO board, 2nd International Conference on Computer Science and Computational Intelligence 2017, ICCSCI 2017, 13-14 October 2017, Bali, Indonesia, In: Procedia Computer Science 116 (2017), pp. 342–350. [4] Küçükkülahlı E., Güler R., Open Source Mobile Robot with Raspberry Pi, BALKAN JOURNAL OF ELECTRICAL & COMPUTER ENGINEERING, ISSN: 2147-284X, Special Issue 2015, Vol.3, No.4, DOI: 10.17694/bajece.29976. [5] Nagymáté G., Android based autonomous mobile robot, Recent Innovations in

References 1. Rimon, E., D. E. Koditschek. Exact Robot Navigation Using Artificial Potential Functions. - IEEE Trans. on Robotics and Automation, Vol. 8, 1992, pp. 529-551. 2. Vadakkepat, P., K. C. Tan, W. Ming-Liang. Evolutionary Artificial Potential Fields and Their Application in Real Time Robot Path Planning. - In: Proc. of 2000 Congress on Evolutionary Computation, 16-19 July 2000. 3. Qixin, C., H. Yanwen, Z. Jingliang. An Evolutionary Artificial Potential Field Algorithm for Dynamic Path Planning of Mobile Robot. - In: Proc. of International Conference on

References [1] I. Bala Sateesh and G. Satis, Inverse Control of DC Motor using Artificial Neural Networks, 2015. [2] G. Campion, B. d’Andrea Novel and G. Bastin, ”Advanced Robot Control”, Proceedings of the International Workshop on Nonlinear and Adaptive Control: Issues in Robotics Grenoble, France, Nov. 21-23, 1990, Springer Berlin Heidelberg, 1991 pp. 106-124, Ch. Controllability and state feedback stabilizability of non holonomic mechanical systems. [3] E. Cuevas, D. Zaldivar and M. Pérez, ”Low-Cost Commercial LEGO Platform for Mobile Robotics”, CoRR abs/1407

REFERENCES 1. Baranowski L., Panasiuk J., Siwek M. (2017), Use of a Raspberry PI to built a prototype wireless control system of a mobile robot., In Proceedings of 23 rd International Conference Engineering Mechanics, 118–121. 2. Brunete A., Hernando M., Torres J.E., Gambao E. (2012), Heterogeneous multi-configurable chained microrobot for the exploration of small cavities, Automation in Construction , 21, 184–198. 3. Ciszewski M., Buratowski T., Giergiel M., Małka P., Kurc K. (2014), Virtual prototyping, design and analysis of an in-pipe inspection

References 1. Jefri, E. M. S., R. Mohamed, Y. Sazali. Designing Omni-Directional Mobile Robot with Mecanum Wheel. - American Journal of Applied Sciences, Vol. 3, 2006, No 5, 1831-1835. 2. Liu, Y., X. Wu, J. Zhu, et al. Omni-Directional Mobile Robot Controller Design by Trajectory Linearization. - In: Proceedings of 2003 American Control Conference, Vol. 4, 2003, 3423-3428. 3. Yang, S. X., A. Zhu, G. F. Yuan et al. A Bioinspired Neurodynamics Based Approach to Tracking Control of Mobile Robots. - IEEE Transactions on Industrial Electronics, Vol. 59, 2012, No

References Bar-Shalom, Y., Li, X. R. and Kirubarajan, T. (2001). Estimation with Applications to Tracking and Navigation , Wiley-Interscience, New York, NY. Corradini, M. L., Leo, T. and Orlando, G. (1999). Robust stabilization of a mobile robot violating the nonholonomic constraint via quasi-sliding modes, Proceedings of the American Control Conference, San Diego, CA, USA , pp. 3935-3939. Dixon, W. E., Dawson, D. M. and Zergeroglu, E. (2000). Tracking and regulation control of a mobile robot system with kinematic disturbances: A variable structure

& Automation Magazine, Vol. 13 , 2006, No 2, pp. 99-110. 4. Yi, Y., Y. Huang. Landmark Sequence Data Association for Simultaneous Localization and Mapping of Robots. – Cybernetics and Information Technologies, Vol. 14 , 2014, No 3, pp. 212-221. 5. Cai, J., X. Ruan, P. Li. Autonomous Path Planning Scheme Research for Mobile Robot. – Cybernetics and Information Technologies, Vol. 16 , 2016, No 4, pp. 212-221. 6. Peng, J., Y. Huang, G. Luo. Robot Path Planning Based on Improved A* Algorithm. – Cybernetics and Information Technologies, Vol. 15 , 2015, No 2, pp. 171-180. 7


Mobile robots are becoming increasingly popular, finding a great deal of applications, especially in situations where conventional mobility systems, such as wheels or tracks, prove ineffective. Exploration of an unknown environment or a place, in which Man is incapable of staying, for example exploring remote planets in the Solar System, is often linked with operating a device in a rough terrain. This requires an adjustment of the robot locomotion system to the ground. The problem of high mobility in diverse surroundings is still a major challenge. Therefore, the concept of mobile robots is extremely popular and is still being developed. Using this type of propulsion carries several advantages, namely the possibility of applicability of this type of solutions in an environment, which is not easily accessible to wheeled vehicles (sandy, mountainous terrain, etc.). There is still a large interest of constructors and scientists in unconventional drive systems, adapted directly from nature, which often offers very efficient solutions. Quite frequently, designers copy the construction of animal locomotion system, attempting at implementing them in their designs. The aim of this article is to present an original construction, known as the Rhex-type robot in the available literature. In addition, it presents a number of conducted investigations, which describe the platform’s mobility in various terrains, such as sands, rocks and rubbles, as well as the possibility to overcome the terrain obstacles. It ends with conclusions and potential application areas of this type of a design.