Locomotion Mechanisms for Mobile Robots: Classification, Kinematic-Dynamic Modeling, and Motion Control – A Review

The paper presents a comprehensive analysis of mobility and locomotion mechanisms for mobile robots, emphasizing their role in dynamic, human-shared environments. It explores the evolution from traditional Automated Guided Vehicles to autonomous platforms capable of safe interaction with humans, highlighting the importance of mobility as a multidisciplinary concept integrating mechanical design, control, and safety compliance. A detailed classification of locomotion systems is provided, including differential drive, Ackermann steering, omnidirectional wheels, tracked platforms, legged robots, and hybrid configurations, with a focus on their advantages, limitations, and application domains. Furthermore, the study addresses kinematic and dynamic modeling principles essential for accurate motion prediction and control, followed by an overview of advanced motion control strategies such as nonlinear controllers, model predictive control, and learning-based approaches. Performance criteria related to maneuverability, energy efficiency, stability, and compliance with international safety standards are discussed.