http://introlab.3it.usherbrooke.ca/index.php?action=history&feed=atom&title=AZIMUT
AZIMUT - Revision history
2026-04-05T18:13:20Z
Revision history for this page on the wiki
MediaWiki 1.41.0
http://introlab.3it.usherbrooke.ca/index.php?title=AZIMUT&diff=3202&oldid=prev
Micf1201: /* Publications */
2018-03-13T10:50:07Z
<p><span dir="auto"><span class="autocomment">Publications</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 10:50, 13 March 2018</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l31">Line 31:</td>
<td colspan="2" class="diff-lineno">Line 31:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= Publications =</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= Publications =</div></td></tr>
<tr><td colspan="2" class="diff-side-deleted"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">#Clavien, L., Lauria, M., Michaud. F. (2018), "Instantaneous centre of rotation based motion control for omnidirectional mobile robots with sidewards off-centred wheels," Robotics and Autonomous Systems. </ins></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#Chamberland, S., Beaudry, É., Clavien, L., Kabanza, F., Michaud, F., Lauria, M. (2010), “Motion planning of an omnidirectional non-holonomic robot with steering constraints,” IEEE/RSJ International Conference on Intelligent Robots and Systems. ([[Media:IROS2010_SC.pdf|pdf]])</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#Chamberland, S., Beaudry, É., Clavien, L., Kabanza, F., Michaud, F., Lauria, M. (2010), “Motion planning of an omnidirectional non-holonomic robot with steering constraints,” IEEE/RSJ International Conference on Intelligent Robots and Systems. ([[Media:IROS2010_SC.pdf|pdf]])</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#Ferland, F., Clavien, L., Frémy, J., Létourneau, D., Michaud, F., Lauria, M. (2010), “Teleoperation of AZIMUT-3, an omnidirectional non-holonomic platform with steerable wheels,” IEEE/RSJ International Conference on Intelligent Robots and Systems. ([[Media:IROS2010-AZIMUT-Teleoperation.pdf|pdf]]) ([[Media:AZ3ICRControlMarch2010.mov|mov]])</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#Ferland, F., Clavien, L., Frémy, J., Létourneau, D., Michaud, F., Lauria, M. (2010), “Teleoperation of AZIMUT-3, an omnidirectional non-holonomic platform with steerable wheels,” IEEE/RSJ International Conference on Intelligent Robots and Systems. ([[Media:IROS2010-AZIMUT-Teleoperation.pdf|pdf]]) ([[Media:AZ3ICRControlMarch2010.mov|mov]])</div></td></tr>
</table>
Micf1201
http://introlab.3it.usherbrooke.ca/index.php?title=AZIMUT&diff=3201&oldid=prev
Micf1201: /* Videos */
2018-03-13T10:35:51Z
<p><span dir="auto"><span class="autocomment">Videos</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 10:35, 13 March 2018</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l21">Line 21:</td>
<td colspan="2" class="diff-lineno">Line 21:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><code>{{#ev:dailymotion|xc0zav_azimut-protoype-3-102008_tech}}</code></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><code>{{#ev:dailymotion|xc0zav_azimut-protoype-3-102008_tech}}</code></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div></center></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div></center></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* [<del style="font-weight: bold; text-decoration: none;">[MotionControlClavien</del>.<del style="font-weight: bold; text-decoration: none;">mp4 | </del>Motion Control of AZIMUT (02/2018)<del style="font-weight: bold; text-decoration: none;">]</del>]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* [<ins style="font-weight: bold; text-decoration: none;">https://youtu</ins>.<ins style="font-weight: bold; text-decoration: none;">be/Bucyf4iBQLo </ins>Motion Control of AZIMUT (02/2018)]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* [[Media:AZ3ICRControlMarch2010.mov | Teleoperation of AZIMUT-3, an Omnidirectional non-Holonomic Platform with Steerable Wheels (02/2010)]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* [[Media:AZ3ICRControlMarch2010.mov | Teleoperation of AZIMUT-3, an Omnidirectional non-Holonomic Platform with Steerable Wheels (02/2010)]]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* [[Media:AZ3ForceControlMarch2010.mov | AZIMUT-3 Force Control Motion of a Mobile Platform (02/2010)]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* [[Media:AZ3ForceControlMarch2010.mov | AZIMUT-3 Force Control Motion of a Mobile Platform (02/2010)]]</div></td></tr>
</table>
Micf1201
http://introlab.3it.usherbrooke.ca/index.php?title=AZIMUT&diff=3200&oldid=prev
Micf1201: /* Videos */
2018-03-13T09:27:28Z
<p><span dir="auto"><span class="autocomment">Videos</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 09:27, 13 March 2018</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l21">Line 21:</td>
<td colspan="2" class="diff-lineno">Line 21:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><code>{{#ev:dailymotion|xc0zav_azimut-protoype-3-102008_tech}}</code></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><code>{{#ev:dailymotion|xc0zav_azimut-protoype-3-102008_tech}}</code></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div></center></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div></center></div></td></tr>
<tr><td colspan="2" class="diff-side-deleted"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">* [[MotionControlClavien.mp4 | Motion Control of AZIMUT (02/2018)]]</ins></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* [[Media:AZ3ICRControlMarch2010.mov | Teleoperation of AZIMUT-3, an Omnidirectional non-Holonomic Platform with Steerable Wheels (02/2010)]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* [[Media:AZ3ICRControlMarch2010.mov | Teleoperation of AZIMUT-3, an Omnidirectional non-Holonomic Platform with Steerable Wheels (02/2010)]]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* [[Media:AZ3ForceControlMarch2010.mov | AZIMUT-3 Force Control Motion of a Mobile Platform (02/2010)]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* [[Media:AZ3ForceControlMarch2010.mov | AZIMUT-3 Force Control Motion of a Mobile Platform (02/2010)]]</div></td></tr>
</table>
Micf1201
http://introlab.3it.usherbrooke.ca/index.php?title=AZIMUT&diff=2770&oldid=prev
Micf1201: /* Publications */
2013-03-29T14:30:05Z
<p><span dir="auto"><span class="autocomment">Publications</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 14:30, 29 March 2013</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l41">Line 41:</td>
<td colspan="2" class="diff-lineno">Line 41:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#Michaud, F., Létourneau, D., Paré, J.-F., Legault, M.-A., Cadrin, R., Arsenault, M., Bergeron, Y., Tremblay, M.-C., Gagnon, F., Millette, M., Lepage, P., Morin, Y., Caron, S. (2003), "Co-design of AZIMUT, a multi-modal robotic platform", ''Proceedings ASME 23rd Computers and Information in Engineering Conference - Embedded and Ubiquitous Computing''. ([http://laborius.gel.usherbrooke.ca/papers/ASME2003.pdf pdf])</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#Michaud, F., Létourneau, D., Paré, J.-F., Legault, M.-A., Cadrin, R., Arsenault, M., Bergeron, Y., Tremblay, M.-C., Gagnon, F., Millette, M., Lepage, P., Morin, Y., Caron, S. (2003), "Co-design of AZIMUT, a multi-modal robotic platform", ''Proceedings ASME 23rd Computers and Information in Engineering Conference - Embedded and Ubiquitous Computing''. ([http://laborius.gel.usherbrooke.ca/papers/ASME2003.pdf pdf])</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#Michaud, F., Létourneau, D., Paré, J.-F., Legault, M.-A., Cadrin, R., Arsenault, M., Bergeron, Y., Tremblay, M.-C., Gagnon, F., Millette, M., Lepage, P., Morin, Y., Caron, S. (2003), "AZIMUT - A multi-modal locomotion robotic platform", ''SPIE's 17th Annual International Symposium on Aerospace/Defense Sensing, Simulation, and Controls''. ([http://laborius.gel.usherbrooke.ca/papers/SPIE2003.pdf pdf])</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#Michaud, F., Létourneau, D., Paré, J.-F., Legault, M.-A., Cadrin, R., Arsenault, M., Bergeron, Y., Tremblay, M.-C., Gagnon, F., Millette, M., Lepage, P., Morin, Y., Caron, S. (2003), "AZIMUT - A multi-modal locomotion robotic platform", ''SPIE's 17th Annual International Symposium on Aerospace/Defense Sensing, Simulation, and Controls''. ([http://laborius.gel.usherbrooke.ca/papers/SPIE2003.pdf pdf])</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;"># Multi-modal locomotion and modular robotic platform for advanced 3D motion. Michaud, F., Létourneau, D., Paré, J.-F., Legault, M.-A., Cadrin, R., Arsenault, M., Bergeron, Y., Tremblay, M.-C., Gagnon, F., Millette, M., Lepage, P., Morin, Y., Caron, S., Bisson, J., Lepage, P., Morin, Y., Deschambault, M., Rissman, H. Patent pending Canada no. 2,412,316, US no. 10/724,519 – November 27, 2003.</del></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= Équipe / Team = </div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= Équipe / Team = </div></td></tr>
</table>
Micf1201
http://introlab.3it.usherbrooke.ca/index.php?title=AZIMUT&diff=2385&oldid=prev
Dominic Létourneau at 15:51, 9 January 2012
2012-01-09T15:51:21Z
<p></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 15:51, 9 January 2012</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l1">Line 1:</td>
<td colspan="2" class="diff-lineno">Line 1:</td></tr>
<tr><td colspan="2" class="diff-side-deleted"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;"><analytics uacct="UA-27707792-1" ></analytics></ins></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><big></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><big></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><center></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><center></div></td></tr>
</table>
Dominic Létourneau
http://introlab.3it.usherbrooke.ca/index.php?title=AZIMUT&diff=2168&oldid=prev
Francois Michaud at 11:38, 8 May 2011
2011-05-08T11:38:39Z
<p></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 11:38, 8 May 2011</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l11">Line 11:</td>
<td colspan="2" class="diff-lineno">Line 11:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>----</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>----</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>AZIMUT addresses the challenge of making multiple mechanisms available for locomotion on the same robotic platform. AZIMUT has four independent articulations that can be wheels (as shown above), legs or tracks, or a combination of these. By changing the direction of its articulations, AZIMUT is also capable of moving sideways without changing its orientation, making it omnidirectional. All these capabilities provide the robot with the ability to move in tight areas. AZIMUT is designed to be highly modular, placing for instance the actuators in the articulations so that the wheels can be easily replaced by leg-track articulations for all-terrain operations. Stability and compliance of the platform are enhanced by adding a vertical suspension and using elastic actuators for the motorized direction of AZIMUT’s articulations. An elastic element is placed in the actuation mechanism and a sensor is used to measure its deformation, allowing to sense and control the torque at the actuator’s end. This should improve robot motion over uneven terrains, making the robot feel the surface on which it operates. Mechatronic modules, such as the wheel-motor that is used in all configurations, use a distributed processing architecture with multiple microcontrollers communicating through shared data buses. AZIMUT's design provides a rich framework to create a great variety of robots for indoor and outdoor uses<del style="font-weight: bold; text-decoration: none;">, which makes it one of the most advanced wheeled robotic platforms available</del>.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>AZIMUT addresses the challenge of making multiple mechanisms available for locomotion on the same robotic platform. AZIMUT has four independent articulations that can be wheels (as shown above), legs or tracks, or a combination of these. By changing the direction of its articulations, AZIMUT is also capable of moving sideways without changing its orientation, making it omnidirectional. All these capabilities provide the robot with the ability to move in tight areas. AZIMUT is designed to be highly modular, placing for instance the actuators in the articulations so that the wheels can be easily replaced by leg-track articulations for all-terrain operations. Stability and compliance of the platform are enhanced by adding a vertical suspension and using elastic actuators for the motorized direction of AZIMUT’s articulations. An elastic element is placed in the actuation mechanism and a sensor is used to measure its deformation, allowing to sense and control the torque at the actuator’s end. This should improve robot motion over uneven terrains, making the robot feel the surface on which it operates. Mechatronic modules, such as the wheel-motor that is used in all configurations, use a distributed processing architecture with multiple microcontrollers communicating through shared data buses. AZIMUT's design provides a rich framework to create a great variety of robots for indoor and outdoor uses.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><center></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><center></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[Image:AzimutDebut.jpg|200px]] [[Image:AZIMUTMulti.jpg|200px]] [[Image:AZIMUTWheel.jpg|200px]] [[Image:AZIMUT2.jpg|200px]] [[Image:AZIMUT2Track.jpg|200px]] [[Image:AZIMUT_track.jpg|200px]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[Image:AzimutDebut.jpg|200px]] [[Image:AZIMUTMulti.jpg|200px]] [[Image:AZIMUTWheel.jpg|200px]] [[Image:AZIMUT2.jpg|200px]] [[Image:AZIMUT2Track.jpg|200px]] [[Image:AZIMUT_track.jpg|200px]]</div></td></tr>
</table>
Francois Michaud
http://introlab.3it.usherbrooke.ca/index.php?title=AZIMUT&diff=2166&oldid=prev
Lionel Clavien at 12:50, 6 May 2011
2011-05-06T12:50:49Z
<p></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 12:50, 6 May 2011</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l11">Line 11:</td>
<td colspan="2" class="diff-lineno">Line 11:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>----</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>----</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>AZIMUT addresses the challenge of making multiple mechanisms available for locomotion on the same robotic platform. AZIMUT has four independent articulations that can be wheels (as shown <del style="font-weight: bold; text-decoration: none;">left</del>), legs or tracks, or a combination of these. By changing the direction of its articulations, AZIMUT is also capable of moving sideways without changing its orientation, making it omnidirectional. All these capabilities provide the robot with the ability to move in tight areas. AZIMUT is designed to be highly modular, placing for instance the actuators in the articulations so that the wheels can be easily replaced by leg-track articulations for all-terrain operations. Stability and compliance of the platform are enhanced by adding a vertical suspension and using elastic actuators for the motorized direction of AZIMUT’s articulations. <del style="font-weight: bold; text-decoration: none;"> </del>An elastic element is placed in the actuation mechanism and a sensor is used to measure its deformation, allowing to sense and control the torque at the actuator’s end. This should improve robot motion over uneven terrains, making the robot feel the surface on which it operates. Mechatronic modules, such as the wheel-motor that is used in <del style="font-weight: bold; text-decoration: none;">the wheel and the leg-track </del>configurations, <del style="font-weight: bold; text-decoration: none;">and the </del>use <del style="font-weight: bold; text-decoration: none;">of </del>a distributed processing architecture with multiple microcontrollers communicating through shared data buses. AZIMUT's design provides a rich framework to create a great variety of robots for indoor and outdoor uses, <del style="font-weight: bold; text-decoration: none;">and </del>makes it one of the most advanced wheeled robotic platforms available.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>AZIMUT addresses the challenge of making multiple mechanisms available for locomotion on the same robotic platform. AZIMUT has four independent articulations that can be wheels (as shown <ins style="font-weight: bold; text-decoration: none;">above</ins>), legs or tracks, or a combination of these. By changing the direction of its articulations, AZIMUT is also capable of moving sideways without changing its orientation, making it omnidirectional. All these capabilities provide the robot with the ability to move in tight areas. AZIMUT is designed to be highly modular, placing for instance the actuators in the articulations so that the wheels can be easily replaced by leg-track articulations for all-terrain operations. Stability and compliance of the platform are enhanced by adding a vertical suspension and using elastic actuators for the motorized direction of AZIMUT’s articulations. An elastic element is placed in the actuation mechanism and a sensor is used to measure its deformation, allowing to sense and control the torque at the actuator’s end. This should improve robot motion over uneven terrains, making the robot feel the surface on which it operates. Mechatronic modules, such as the wheel-motor that is used in <ins style="font-weight: bold; text-decoration: none;">all </ins>configurations, use a distributed processing architecture with multiple microcontrollers communicating through shared data buses. AZIMUT's design provides a rich framework to create a great variety of robots for indoor and outdoor uses, <ins style="font-weight: bold; text-decoration: none;">which </ins>makes it one of the most advanced wheeled robotic platforms available.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><center></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><center></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[Image:AzimutDebut.jpg|200px]] [[Image:AZIMUTMulti.jpg|200px]] [[Image:AZIMUTWheel.jpg|200px]] [[Image:AZIMUT2.jpg|200px]] [[Image:AZIMUT2Track.jpg|200px]] [[Image:AZIMUT_track.jpg|200px]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[Image:AzimutDebut.jpg|200px]] [[Image:AZIMUTMulti.jpg|200px]] [[Image:AZIMUTWheel.jpg|200px]] [[Image:AZIMUT2.jpg|200px]] [[Image:AZIMUT2Track.jpg|200px]] [[Image:AZIMUT_track.jpg|200px]]</div></td></tr>
</table>
Lionel Clavien
http://introlab.3it.usherbrooke.ca/index.php?title=AZIMUT&diff=2065&oldid=prev
Francois Michaud at 12:59, 15 April 2011
2011-04-15T12:59:56Z
<p></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 12:59, 15 April 2011</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l29">Line 29:</td>
<td colspan="2" class="diff-lineno">Line 29:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= Publications =</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= Publications =</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>#Chamberland, S., Beaudry, É., Clavien, L., Kabanza, F., Michaud, F., Lauria, M. (2010), “Motion planning of an <del style="font-weight: bold; text-decoration: none;">omnidirection </del>non-holonomic robot with steering constraints,” IEEE/RSJ International Conference on Intelligent Robots and Systems. ([[Media:IROS2010_SC.pdf|pdf]])</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>#Chamberland, S., Beaudry, É., Clavien, L., Kabanza, F., Michaud, F., Lauria, M. (2010), “Motion planning of an <ins style="font-weight: bold; text-decoration: none;">omnidirectional </ins>non-holonomic robot with steering constraints,” IEEE/RSJ International Conference on Intelligent Robots and Systems. ([[Media:IROS2010_SC.pdf|pdf]])</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>#Ferland, F., Clavien, L., Frémy, J., Létourneau, D., Michaud, F., Lauria, M. (2010), “Teleoperation of AZIMUT-3, an omnidirectional non-holonomic platform with steerable wheels,” IEEE/RSJ International Conference on Intelligent Robots and Systems.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>#Ferland, F., Clavien, L., Frémy, J., Létourneau, D., Michaud, F., Lauria, M. (2010), “Teleoperation of AZIMUT-3, an omnidirectional non-holonomic platform with steerable wheels,” IEEE/RSJ International Conference on Intelligent Robots and Systems. <ins style="font-weight: bold; text-decoration: none;">([[Media:IROS2010-AZIMUT-Teleoperation.pdf|pdf]]) ([[Media:AZ3ICRControlMarch2010.mov|mov]])</ins></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>#Frémy, J., Ferland, F., Clavien, L., Létourneau, D., Michaud, F., Lauria, M. (2010), “Force-controlled motion of a mobile platform,” IEEE/RSJ International Conference on Intelligent Robots and Systems. </div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>#Frémy, J., Ferland, F., Clavien, L., Létourneau, D., Michaud, F., Lauria, M. (2010), “Force-controlled motion of a mobile platform,” IEEE/RSJ International Conference on Intelligent Robots and Systems. <ins style="font-weight: bold; text-decoration: none;">([[Media:IROS2010-AZIMUT-ForceControl.pdf|pdf]]) ([[Media:AZ3ForceControlMarch2010.mov|mov]])</ins></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#Clavien, L., Lauria, M., Michaud, F. (2010), “Instantaneous centre of rotation estimation of an omnidirectional mobile robot,” ''Proceedings 2010 IEEE International Conference on Robotics and Automation'', Anchorage, USA. ([[Media:ICRA2010-AZIMUT-ICR.pdf|pdf]])</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#Clavien, L., Lauria, M., Michaud, F. (2010), “Instantaneous centre of rotation estimation of an omnidirectional mobile robot,” ''Proceedings 2010 IEEE International Conference on Robotics and Automation'', Anchorage, USA. ([[Media:ICRA2010-AZIMUT-ICR.pdf|pdf]])</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#Lauria, M., Michaud, F., Legault, M.-A., Létourneau, D., Rétornaz, P., Nadeau, I., Lepage, P., Morin, Y., Gagnon, F., Giguère, P., Frémy, J., Clavien, L. (2008), “Elastic locomotion of a four steered mobile robot,” ''Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems''. ([[Media:ICRA2008-AZIMUT-DEA.pdf|pdf]]) ([http://laborius.gel.usherbrooke.ca/videos/IROS2008_AZIMUTv5.mp4 video])</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#Lauria, M., Michaud, F., Legault, M.-A., Létourneau, D., Rétornaz, P., Nadeau, I., Lepage, P., Morin, Y., Gagnon, F., Giguère, P., Frémy, J., Clavien, L. (2008), “Elastic locomotion of a four steered mobile robot,” ''Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems''. ([[Media:ICRA2008-AZIMUT-DEA.pdf|pdf]]) ([http://laborius.gel.usherbrooke.ca/videos/IROS2008_AZIMUTv5.mp4 video])</div></td></tr>
</table>
Francois Michaud
http://introlab.3it.usherbrooke.ca/index.php?title=AZIMUT&diff=2064&oldid=prev
Francois Michaud at 12:55, 15 April 2011
2011-04-15T12:55:31Z
<p></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 12:55, 15 April 2011</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l11">Line 11:</td>
<td colspan="2" class="diff-lineno">Line 11:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>----</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>----</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>AZIMUT addresses the challenge of making multiple mechanisms available for locomotion on the same robotic platform. AZIMUT has four independent articulations that can be wheels (as shown left), legs or tracks, or a combination of these. By changing the direction of its articulations, AZIMUT is also capable of moving sideways without changing its orientation, making it omnidirectional. All these capabilities provide the robot with the ability to move in tight areas. AZIMUT is designed to be highly modular, placing for instance the actuators in the articulations so that the wheels can be easily replaced by leg-track articulations for all-terrain operations. Stability and compliance of the platform are enhanced by adding a vertical suspension and using elastic actuators for the motorized direction of AZIMUT’s articulations. An elastic element is placed in the actuation mechanism and a sensor is used to measure its deformation, allowing to sense and control the torque at the actuator’s end. This should improve robot motion over uneven terrains, making the robot <del style="font-weight: bold; text-decoration: none;">capable of ``feeling'' </del>the surface on which it operates. Mechatronic modules, such as the wheel-motor that is used in the wheel and the leg-track configurations, and the use of a distributed processing architecture with multiple microcontrollers communicating through shared data buses. AZIMUT's design provides a rich framework to create a great variety of robots for indoor and outdoor uses, and makes it one of the most advanced wheeled robotic platforms available.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>AZIMUT addresses the challenge of making multiple mechanisms available for locomotion on the same robotic platform. AZIMUT has four independent articulations that can be wheels (as shown left), legs or tracks, or a combination of these. By changing the direction of its articulations, AZIMUT is also capable of moving sideways without changing its orientation, making it omnidirectional. All these capabilities provide the robot with the ability to move in tight areas. AZIMUT is designed to be highly modular, placing for instance the actuators in the articulations so that the wheels can be easily replaced by leg-track articulations for all-terrain operations. Stability and compliance of the platform are enhanced by adding a vertical suspension and using elastic actuators for the motorized direction of AZIMUT’s articulations. An elastic element is placed in the actuation mechanism and a sensor is used to measure its deformation, allowing to sense and control the torque at the actuator’s end. This should improve robot motion over uneven terrains, making the robot <ins style="font-weight: bold; text-decoration: none;">feel </ins>the surface on which it operates. Mechatronic modules, such as the wheel-motor that is used in the wheel and the leg-track configurations, and the use of a distributed processing architecture with multiple microcontrollers communicating through shared data buses. AZIMUT's design provides a rich framework to create a great variety of robots for indoor and outdoor uses, and makes it one of the most advanced wheeled robotic platforms available.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><center></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div><center></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[Image:AzimutDebut.jpg|200px]] [[Image:AZIMUTMulti.jpg|200px]] [[Image:AZIMUTWheel.jpg|200px]] [[Image:AZIMUT2.jpg|200px]] [[Image:AZIMUT2Track.jpg|200px]] [[Image:AZIMUT_track.jpg|200px]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[Image:AzimutDebut.jpg|200px]] [[Image:AZIMUTMulti.jpg|200px]] [[Image:AZIMUTWheel.jpg|200px]] [[Image:AZIMUT2.jpg|200px]] [[Image:AZIMUT2Track.jpg|200px]] [[Image:AZIMUT_track.jpg|200px]]</div></td></tr>
</table>
Francois Michaud
http://introlab.3it.usherbrooke.ca/index.php?title=AZIMUT&diff=1799&oldid=prev
Francois Michaud: /* Publications */
2011-01-02T22:54:28Z
<p><span dir="auto"><span class="autocomment">Publications</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 22:54, 2 January 2011</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l29">Line 29:</td>
<td colspan="2" class="diff-lineno">Line 29:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= Publications =</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= Publications =</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>#Chamberland, S., Beaudry, <del style="font-weight: bold; text-decoration: none;">E</del>., Clavien, L., Kabanza, F., Michaud, F., Lauria, M. (2010), “Motion planning <del style="font-weight: bold; text-decoration: none;">for </del>an <del style="font-weight: bold; text-decoration: none;">omnidirectional </del>robot with steering constraints,” <del style="font-weight: bold; text-decoration: none;">''Proceedings of the 2010 </del>IEEE/RSJ International Conference on Intelligent Robots and Systems<del style="font-weight: bold; text-decoration: none;">'', October 18-22, 2010, Taipei, Taiwan</del>.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>#Chamberland, S., Beaudry, <ins style="font-weight: bold; text-decoration: none;">É</ins>., Clavien, L., Kabanza, F., Michaud, F., Lauria, M. (2010), “Motion planning <ins style="font-weight: bold; text-decoration: none;">of </ins>an <ins style="font-weight: bold; text-decoration: none;">omnidirection non-holonomic </ins>robot with steering constraints,” IEEE/RSJ International Conference on Intelligent Robots and Systems. <ins style="font-weight: bold; text-decoration: none;">([[Media:IROS2010_SC.pdf|pdf]])</ins></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>#Ferland, F., Clavien, L., Frémy, J., Létourneau, D., Michaud, F., Lauria, M. (2010), “Teleoperation of AZIMUT-3, an omnidirectional non-holonomic platform with steerable wheels,” <del style="font-weight: bold; text-decoration: none;">''Proceedings of the 2010 </del>IEEE/RSJ International Conference on Intelligent Robots and Systems<del style="font-weight: bold; text-decoration: none;">'', October 18-22, 2010, Taipei, Taiwan</del>.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>#Ferland, F., Clavien, L., Frémy, J., Létourneau, D., Michaud, F., Lauria, M. (2010), “Teleoperation of AZIMUT-3, an omnidirectional non-holonomic platform with steerable wheels,” IEEE/RSJ International Conference on Intelligent Robots and Systems.</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>#Frémy, J., Ferland, F., Clavien, L., Létourneau, D., Michaud, F., Lauria, M. (2010), “Force-controlled motion of a mobile platform,” <del style="font-weight: bold; text-decoration: none;">''Proceedings of the 2010 </del>IEEE/RSJ International Conference on Intelligent Robots and Systems<del style="font-weight: bold; text-decoration: none;">'', October 18-22, 2010, Taipei, Taiwan</del>.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>#Frémy, J., Ferland, F., Clavien, L., Létourneau, D., Michaud, F., Lauria, M. (2010), “Force-controlled motion of a mobile platform,” IEEE/RSJ International Conference on Intelligent Robots and Systems. </div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#Clavien, L., Lauria, M., Michaud, F. (2010), “Instantaneous centre of rotation estimation of an omnidirectional mobile robot,” ''Proceedings 2010 IEEE International Conference on Robotics and Automation'', Anchorage, USA. ([[Media:ICRA2010-AZIMUT-ICR.pdf|pdf]])</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#Clavien, L., Lauria, M., Michaud, F. (2010), “Instantaneous centre of rotation estimation of an omnidirectional mobile robot,” ''Proceedings 2010 IEEE International Conference on Robotics and Automation'', Anchorage, USA. ([[Media:ICRA2010-AZIMUT-ICR.pdf|pdf]])</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#Lauria, M., Michaud, F., Legault, M.-A., Létourneau, D., Rétornaz, P., Nadeau, I., Lepage, P., Morin, Y., Gagnon, F., Giguère, P., Frémy, J., Clavien, L. (2008), “Elastic locomotion of a four steered mobile robot,” ''Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems''. ([[Media:ICRA2008-AZIMUT-DEA.pdf|pdf]]) ([http://laborius.gel.usherbrooke.ca/videos/IROS2008_AZIMUTv5.mp4 video])</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>#Lauria, M., Michaud, F., Legault, M.-A., Létourneau, D., Rétornaz, P., Nadeau, I., Lepage, P., Morin, Y., Gagnon, F., Giguère, P., Frémy, J., Clavien, L. (2008), “Elastic locomotion of a four steered mobile robot,” ''Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems''. ([[Media:ICRA2008-AZIMUT-DEA.pdf|pdf]]) ([http://laborius.gel.usherbrooke.ca/videos/IROS2008_AZIMUTv5.mp4 video])</div></td></tr>
</table>
Francois Michaud