Design, development, and mobility test of an omnidirectional mobile robot for rough Terrain

Genya Ishigami; Elvine Pineda; Jim Overholt; Greg Hudas; Karl Iagnemma

doi:10.1007/978-3-642-40686-7_40

Design, development, and mobility test of an omnidirectional mobile robot for rough Terrain

Genya Ishigami, Elvine Pineda, Jim Overholt, Greg Hudas, Karl Iagnemma

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

Omnidirectional vehicles have been widely applied in several areas, but most of them are designed for the case of motion on flat, smooth terrain, and are not feasible for outdoor usage. This paper presents an omnidirectional mobile robot that possesses highmobility in rough terrain. The omnidirectional robot employs four sets of mobility modules, called active split offset caster (ASOC). The ASOCmodule has two independently-driven wheels that produce arbitrary planar translational velocity, enabling the robot to achieve its omnidirectional mobility. Each module is connected to the main body of the robot via a parallel link with shock absorbers. In this paper, a design and development of the ASOC-driven omnidirectional mobile robot for rough terrain are described. Also, a control scheme that considers a kinematics of the omnidirectional mobile robot is presented. The omnidirectional mobility of the robot regardless of ifs heading direction is experimentally evaluated based on ametric called omnidirectional mobility index.

Original language	English
Title of host publication	Field and Service Robotics - Results of the 8th International Conference
Pages	599-611
Number of pages	13
DOIs	https://doi.org/10.1007/978-3-642-40686-7_40
Publication status	Published - 2014 Mar 11
Event	8th International Conference on Field and Service Robotics, FSR 2012 - Matsushima, Miyagi, Japan Duration: 2012 Jul 16 → 2012 Jul 19

Publication series

Name	Springer Tracts in Advanced Robotics
Volume	92
ISSN (Print)	1610-7438
ISSN (Electronic)	1610-742X

Other

Other	8th International Conference on Field and Service Robotics, FSR 2012
Country	Japan
City	Matsushima, Miyagi
Period	12/7/16 → 12/7/19

ASJC Scopus subject areas

Electrical and Electronic Engineering
Artificial Intelligence

Access to Document

10.1007/978-3-642-40686-7_40

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Ishigami, G., Pineda, E., Overholt, J., Hudas, G., & Iagnemma, K. (2014). Design, development, and mobility test of an omnidirectional mobile robot for rough Terrain. In Field and Service Robotics - Results of the 8th International Conference (pp. 599-611). (Springer Tracts in Advanced Robotics; Vol. 92). https://doi.org/10.1007/978-3-642-40686-7_40

Design, development, and mobility test of an omnidirectional mobile robot for rough Terrain. / Ishigami, Genya; Pineda, Elvine; Overholt, Jim; Hudas, Greg; Iagnemma, Karl.

Field and Service Robotics - Results of the 8th International Conference. 2014. p. 599-611 (Springer Tracts in Advanced Robotics; Vol. 92).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ishigami, G, Pineda, E, Overholt, J, Hudas, G & Iagnemma, K 2014, Design, development, and mobility test of an omnidirectional mobile robot for rough Terrain. in Field and Service Robotics - Results of the 8th International Conference. Springer Tracts in Advanced Robotics, vol. 92, pp. 599-611, 8th International Conference on Field and Service Robotics, FSR 2012, Matsushima, Miyagi, Japan, 12/7/16. https://doi.org/10.1007/978-3-642-40686-7_40

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