The concept of model free robotics for robots to act in uncertain environments

Abstract

A concept of model free robotics was proposed for a robot to act stably in an uncertain environment, which is a bounded but unpredictable environment. In the concept a robot is devised to act stably in an uncertain environment with little or no sensing of the environment. The stability may be realized by control, by mechanisms, or by both. The concept of model free robotics was demonstrated using such robots as a wheeled inverted pendulum, a four-wheeled active suspension robot, a biped robot, and a wall climbing robot with scanning type suction cups. It also applies to many robotic developments achieved by researchers other than the authors as well. This concept will hopefully help robots solve some problems of the global environment.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>