Design and implementation of intelligent mobile robots: practical aspects

In order to design and implement practical intelligent mobile robots, configurational design is fundamental and crucial. The paper firstly focuses on the problem to select the optimal shape of an intelligent mobile robot when the application of the robot is specified, and it is pointed out that there are three basic shapes, i.e. (1) infinite rotational device such as wheels and crawler track, (2) legs, and (3) an articulated body. The author's manufactured robots are classified among these or the combination of them. The control problems of these robots are also discussed.