GB/T 42830-2023 Mobilerobots - Vocabulary
1 Scope
This document defines terms relating to mobile robots that travel on a solid surface and that operate in both industrial robot and service robot applications. It defines terms used for describing mobility, locomotion and other topics relating to the navigation of mobile robots.
2 Normative references
There are no normative references in this document.
3 Terms and definitions
3.1 General terms related to mobile robots
3.1.1
mobile robot
robot able to travel under its own control
Note: A mobile robot can be a mobile platform (3.1.2) with or without manipulators.
[Source: GB/T 12643-2013, 2.13]
3.1.2
mobile platform
assembly of all components of the mobile robot (3.1.1) which enables locomotion (3.1.10)
Note 1: A mobile platform can include a chassis which can be used to support a load.
Note 2: Because of possible confusion with the term “base”, it is advisable not to use the term “mobile base" to describe a mobile platform.
[Source: GB/T 12643-2013, 3.18]
3.1.3
mobility
ability of the mobile platform (3.1.2) to travel within its environment
Note: Mobility can be used as a measure, e.g. an omni-directional mobile mechanism (3.3.6) usually has higher mobility than a differential drive (3.3.7) wheeled mechanism.
3.1.4
steering
control of the direction of travel of the mobile platform (3.1.2)
3.1.5
configuration
set of all joint values that completely determines the shape of the robot at any time [Source: GB/T 12643-2013, 3.5]
3.1.6
alignment configuration
reference configuration
specified configuration (3.1.5) of the mobile platform (3.1.2) defined by the manufacturer
Example: Zero-steering configuration for a wheeled robot, specified stand-still configuration of a legged robot
3.1.7
travel surface
terrain on which the mobile robot (3.1.1) travels
[Source: GB/T 12643-2013,7.7]
3.1.8
travel surface contact area
ground contact area
area of one or more wheels, tracks, or legs in contact with the travel surface (3.1.7)
3.1.9
support polygon
convex hull of all the travel surface contact areas (3.1.8)
3.1.10
locomotion
self-propelled travel of the mobile platform (3.1.2)
3.1.11
turret
rotating structure mounted on a mobile platform (3.1.2) to give independent orientation to any devices attached on the structure
3.2 Terms related to locomotive structure
3.2.1
suspension
system or structure which absorbs shock or vibration from the travel surface (3.1.7)
Note: The purpose of suspension can be to maintain the stability of the mobile platform (3.1.2) and to overcome roughness of the travel surface by maintaining contact to the travel surface.
3.2.2
active suspension
suspension (3.2.1) whose damping and/or spring characteristics can be controlled
3.2.3
Zero Moment Point; ZMP
point, on the support polygon (3.1.9), with respect to which the moment, resultant from all the forces exerted from the travel surface (3.1.7) to the mobile robot (3.1.1), has zero components in the horizontal direction
3.3 Terms related to wheeled robots
3.3.1
steer wheel; steered wheel
wheel whose orientation is controlled to change the direction of travel
3.3.2
drive wheel; driving wheel
wheel that propels the mobile platform (3.1.2)
3.3.3
idler wheel
follower
trailing wheel
wheel that does not propel the mobile platform (3.1.2) and is not actively steered
3.3.4
swivel castor
castor
assembly including one or more wheels in a housing which rotates freely around a vertical axis that has a horizontal offset from the wheel's axis of rotation
3.3.5
omni-directional wheel
wheel with rollers attached on its outer surface which allows a displacement in any direction, even perpendicular to the wheel itself
Example: Omn wheels (rollers oriented in 90°angle to the wheel axle), Mecanum wheels (rollers oriented in 45° angle to the wheel axle)
Note: An omni-directional mobile mechanism (3.3.6) is often constructed using three or more omni- directional wheels.
3.3.6
omni-directional mobile mechanism
wheeled mechanism which enables instantaneous travel of the mobile robot (3.1.1) in any direction
[Source: GB/T 12643-2013, 3.19]
3.3.7
differential drive
mechanism and method of motion control in which drive wheels (3.3.2) along an axis are controlled independently, the speeds of the wheels effecting translation and the difference thereof effecting rotation
Note: This term can also apply to tracked robots.
3.4 Terms related to legged robots
3.4.1
gait
pattern of cyclic motion of the leg(s) for legged locomotion (3.1.10)
3.4.2
stride length stride
travel distance of legged robot for one cycle of gait (3.4.1)
3.4.3
walking period
gait period
time of one cycle of gait (3.4.1)
3.4.4
leg phase
ratio of time delay of the start of swing state (3.4.6) of a leg from that of the reference leg to the walking (3.4.3)
3.4.5
support state
stance state
state of a leg in which the leg is in contact with the travel surface (3.1.2)
3.4.6
swing state
recovery state
transfer state
state of a leg in which the leg is not in contact with the travel surface (3.1.2)
Standard
GB/T 42830-2023 Mobile robots―Vocabulary (English Version)
GB/T 42830-2023 Mobilerobots - Vocabulary
1 Scope
This document defines terms relating to mobile robots that travel on a solid surface and that operate in both industrial robot and service robot applications. It defines terms used for describing mobility, locomotion and other topics relating to the navigation of mobile robots.
2 Normative references
There are no normative references in this document.
3 Terms and definitions
3.1 General terms related to mobile robots
3.1.1
mobile robot
robot able to travel under its own control
Note: A mobile robot can be a mobile platform (3.1.2) with or without manipulators.
[Source: GB/T 12643-2013, 2.13]
3.1.2
mobile platform
assembly of all components of the mobile robot (3.1.1) which enables locomotion (3.1.10)
Note 1: A mobile platform can include a chassis which can be used to support a load.
Note 2: Because of possible confusion with the term “base”, it is advisable not to use the term “mobile base" to describe a mobile platform.
[Source: GB/T 12643-2013, 3.18]
3.1.3
mobility
ability of the mobile platform (3.1.2) to travel within its environment
Note: Mobility can be used as a measure, e.g. an omni-directional mobile mechanism (3.3.6) usually has higher mobility than a differential drive (3.3.7) wheeled mechanism.
3.1.4
steering
control of the direction of travel of the mobile platform (3.1.2)
3.1.5
configuration
set of all joint values that completely determines the shape of the robot at any time [Source: GB/T 12643-2013, 3.5]
3.1.6
alignment configuration
reference configuration
specified configuration (3.1.5) of the mobile platform (3.1.2) defined by the manufacturer
Example: Zero-steering configuration for a wheeled robot, specified stand-still configuration of a legged robot
3.1.7
travel surface
terrain on which the mobile robot (3.1.1) travels
[Source: GB/T 12643-2013,7.7]
3.1.8
travel surface contact area
ground contact area
area of one or more wheels, tracks, or legs in contact with the travel surface (3.1.7)
3.1.9
support polygon
convex hull of all the travel surface contact areas (3.1.8)
3.1.10
locomotion
self-propelled travel of the mobile platform (3.1.2)
3.1.11
turret
rotating structure mounted on a mobile platform (3.1.2) to give independent orientation to any devices attached on the structure
3.2 Terms related to locomotive structure
3.2.1
suspension
system or structure which absorbs shock or vibration from the travel surface (3.1.7)
Note: The purpose of suspension can be to maintain the stability of the mobile platform (3.1.2) and to overcome roughness of the travel surface by maintaining contact to the travel surface.
3.2.2
active suspension
suspension (3.2.1) whose damping and/or spring characteristics can be controlled
3.2.3
Zero Moment Point; ZMP
point, on the support polygon (3.1.9), with respect to which the moment, resultant from all the forces exerted from the travel surface (3.1.7) to the mobile robot (3.1.1), has zero components in the horizontal direction
3.3 Terms related to wheeled robots
3.3.1
steer wheel; steered wheel
wheel whose orientation is controlled to change the direction of travel
3.3.2
drive wheel; driving wheel
wheel that propels the mobile platform (3.1.2)
3.3.3
idler wheel
follower
trailing wheel
wheel that does not propel the mobile platform (3.1.2) and is not actively steered
3.3.4
swivel castor
castor
assembly including one or more wheels in a housing which rotates freely around a vertical axis that has a horizontal offset from the wheel's axis of rotation
3.3.5
omni-directional wheel
wheel with rollers attached on its outer surface which allows a displacement in any direction, even perpendicular to the wheel itself
Example: Omn wheels (rollers oriented in 90°angle to the wheel axle), Mecanum wheels (rollers oriented in 45° angle to the wheel axle)
Note: An omni-directional mobile mechanism (3.3.6) is often constructed using three or more omni- directional wheels.
3.3.6
omni-directional mobile mechanism
wheeled mechanism which enables instantaneous travel of the mobile robot (3.1.1) in any direction
[Source: GB/T 12643-2013, 3.19]
3.3.7
differential drive
mechanism and method of motion control in which drive wheels (3.3.2) along an axis are controlled independently, the speeds of the wheels effecting translation and the difference thereof effecting rotation
Note: This term can also apply to tracked robots.
3.4 Terms related to legged robots
3.4.1
gait
pattern of cyclic motion of the leg(s) for legged locomotion (3.1.10)
3.4.2
stride length stride
travel distance of legged robot for one cycle of gait (3.4.1)
3.4.3
walking period
gait period
time of one cycle of gait (3.4.1)
3.4.4
leg phase
ratio of time delay of the start of swing state (3.4.6) of a leg from that of the reference leg to the walking (3.4.3)
3.4.5
support state
stance state
state of a leg in which the leg is in contact with the travel surface (3.1.2)
3.4.6
swing state
recovery state
transfer state
state of a leg in which the leg is not in contact with the travel surface (3.1.2)
