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

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

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルField and Service Robotics - Results of the 8th International Conference
ページ599-611
ページ数13
DOI
出版ステータスPublished - 2014 3月 11
イベント8th International Conference on Field and Service Robotics, FSR 2012 - Matsushima, Miyagi, Japan
継続期間: 2012 7月 162012 7月 19

出版物シリーズ

名前Springer Tracts in Advanced Robotics
92
ISSN(印刷版)1610-7438
ISSN(電子版)1610-742X

Other

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 人工知能

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