Applying CORBA technology for the teleoperation of wheeeler

Abstract

In this paper, we present development of Wheeeler - the hyper mobile robot. Hyper mobile robots belong to the group of highly articulated robots, sometimes called "snake-like" or serpentine robots. Wheeeler has 7 segments driven by wheels and interconnected by 2 degrees- of-freedom joints (Fig. 28.1). This machine is expected to operate in rough terrain, traverse stairs and trenches, avoid obstacles, or climb over them, and also pass through tight spaces. Our project is in the simulation stage and currently we focus on the communication issues. Although, modeling and tests are performed in simulator (Webots 5 PRO) now, the same control software will work with real robot soon. In this paper, we shortly present the actual version of model; introduce the sensory suite and local controllers' configuration. In the main paragraph we present the implementation of CORBA technology in client-server communication. © Springer-Verlag London Limited 2007.