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

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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationSpringer Tracts in Advanced Robotics
Pages599-611
Number of pages13
Volume92
DOIs
Publication statusPublished - 2014
Event8th International Conference on Field and Service Robotics, FSR 2012 - Matsushima, Miyagi, Japan
Duration: 2012 Jul 162012 Jul 19

Publication series

NameSpringer Tracts in Advanced Robotics
Volume92
ISSN (Print)16107438
ISSN (Electronic)1610742X

Other

Other8th International Conference on Field and Service Robotics, FSR 2012
CountryJapan
CityMatsushima, Miyagi
Period12/7/1612/7/19

Fingerprint

Mobile robots
Robots
Shock absorbers
Wheels
Kinematics

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

Cite this

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 Springer Tracts in Advanced Robotics (Vol. 92, 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.

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 proceedingConference 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 Springer Tracts in Advanced Robotics. vol. 92, 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
Ishigami G, Pineda E, Overholt J, Hudas G, Iagnemma K. Design, development, and mobility test of an omnidirectional mobile robot for rough Terrain. In Springer Tracts in Advanced Robotics. Vol. 92. 2014. p. 599-611. (Springer Tracts in Advanced Robotics). https://doi.org/10.1007/978-3-642-40686-7_40
Ishigami, Genya ; Pineda, Elvine ; Overholt, Jim ; Hudas, Greg ; Iagnemma, Karl. / Design, development, and mobility test of an omnidirectional mobile robot for rough Terrain. Springer Tracts in Advanced Robotics. Vol. 92 2014. pp. 599-611 (Springer Tracts in Advanced Robotics).
@inproceedings{3c899d82542b483e86e7ee15df7bdbdb,
title = "Design, development, and mobility test of an omnidirectional mobile robot for rough Terrain",
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.",
author = "Genya Ishigami and Elvine Pineda and Jim Overholt and Greg Hudas and Karl Iagnemma",
year = "2014",
doi = "10.1007/978-3-642-40686-7_40",
language = "English",
isbn = "9783642406850",
volume = "92",
series = "Springer Tracts in Advanced Robotics",
pages = "599--611",
booktitle = "Springer Tracts in Advanced Robotics",

}

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 -