An Omnidirectional Mobile Robot Using Multiple Active Dual-Wheel Caster Assemblies

Fuhua Han; Takaaki Yamada; Keigo Watanabe; Kiyotaka Izumi

doi:10.1299/kikaic.67.154

An Omnidirectional Mobile Robot Using Multiple Active Dual-Wheel Caster Assemblies

Fuhua Han, Takaaki Yamada, Keigo Watanabe, Kiyotaka Izumi

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

Recently, high mobilities of vehicles in industries are required for the automation of inspections and special works in narrow space. In this paper, we present a new type of holonomic and omnidirectional mobile robot platform using some driving assemblies, one of which consists of two independent driving wheel mechanisms just like active dual-wheel caster with an offset steered axis. The kinematic models of the wheel mechanism and mobile robot using two and three driving assemblies are derived, and their models are used to construct a feedback control system based on a resolved velocity control for the robot. The effectiveness of the present method is illustrated by some computer simulations. Finally, the prototype of a mobile robot platform using two driving assemblies is given to prove the performance experimentally.

Original language	English
Pages (from-to)	154-161
Number of pages	8
Journal	Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	67
Issue number	653
DOIs	https://doi.org/10.1299/kikaic.67.154
Publication status	Published - 2001
Externally published	Yes

Keywords

Active Dual-Wheel Caster
Holonomic Platform
Kinematic Model
Omnidirectional Mobile Robot
Resolved Velocity Control

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1299/kikaic.67.154

Cite this

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abstract = "Recently, high mobilities of vehicles in industries are required for the automation of inspections and special works in narrow space. In this paper, we present a new type of holonomic and omnidirectional mobile robot platform using some driving assemblies, one of which consists of two independent driving wheel mechanisms just like active dual-wheel caster with an offset steered axis. The kinematic models of the wheel mechanism and mobile robot using two and three driving assemblies are derived, and their models are used to construct a feedback control system based on a resolved velocity control for the robot. The effectiveness of the present method is illustrated by some computer simulations. Finally, the prototype of a mobile robot platform using two driving assemblies is given to prove the performance experimentally.",

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AU - Yamada, Takaaki

AU - Watanabe, Keigo

AU - Izumi, Kiyotaka

PY - 2001

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An Omnidirectional Mobile Robot Using Multiple Active Dual-Wheel Caster Assemblies

Abstract

Keywords

ASJC Scopus subject areas

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