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 publicationField and Service Robotics - Results of the 8th International Conference
Pages599-611
Number of pages13
DOIs
Publication statusPublished - 2014 Mar 11
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)1610-7438
ISSN (Electronic)1610-742X

Other

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

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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 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