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 | Springer Tracts in Advanced Robotics |
| Pages | 599-611 |
| Number of pages | 13 |
| Volume | 92 |
| DOIs | |
| Publication status | Published - 2014 |
| 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) | 16107438 |
| ISSN (Electronic) | 1610742X |
Other
| Other | 8th International Conference on Field and Service Robotics, FSR 2012 |
|---|---|
| Country | Japan |
| City | Matsushima, Miyagi |
| Period | 12/7/16 → 12/7/19 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Artificial Intelligence
Cite this
Design, development, and mobility test of an omnidirectional mobile robot for rough Terrain. / Ishigami, Genya; Pineda, Elvine; Overholt, Jim; Hudas, Greg; Iagnemma, Karl.
Springer Tracts in Advanced Robotics. Vol. 92 2014. p. 599-611 (Springer Tracts in Advanced Robotics; Vol. 92).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Design, development, and mobility test of an omnidirectional mobile robot for rough Terrain
AU - Ishigami, Genya
AU - Pineda, Elvine
AU - Overholt, Jim
AU - Hudas, Greg
AU - Iagnemma, Karl
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84897731873&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84897731873&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-40686-7_40
DO - 10.1007/978-3-642-40686-7_40
M3 - Conference contribution
AN - SCOPUS:84897731873
SN - 9783642406850
VL - 92
T3 - Springer Tracts in Advanced Robotics
SP - 599
EP - 611
BT - Springer Tracts in Advanced Robotics
ER -