Supplementary Material: Design of Edge-controlled Multisensor Autonomous Robotic Pathfinder with Active Quadrupedal-wheel Drive Suspension System

This paper introduces an edge-controlled autonomous robot with a gyro-stabilized active suspension system in form of a hybrid quadrupedal wheel drive mechanism, capable of detecting free pathways with an angular resolution of 1 degree and steering the robot in that direction. This features the computer-aided prototyping of the robot as a complete multisensory mechatronic system. Also, several algorithmic models were used in developing the robot’s software, which includes suspension control and pathfinding algorithms. Hence, the concept in this paper is to serve as a miniature model for robotizing off-road vehicles for various applications.

本文提出了一种边缘控制自主机器人，该机器人配备了一种陀螺稳定式主动悬挂系统，其形式为混合四足车轮驱动机制。该系统能够以1度的角分辨率检测自由路径，并引导机器人朝该方向行驶。这一特点在于将计算机辅助原型设计应用于完整的多元感知机电系统。此外，在开发机器人软件的过程中，采用了多种算法模型，包括悬挂控制和路径规划算法。因此，本文提出的概念旨在作为机器人化越野车辆的小型模型，适用于多种应用场景。