Title :
Path tracking of an unicycle robot with a wide-type wheel aimed for navigation
Author :
Okumura, Junpei ; Takei, Toshinobu ; Tsubouchi, Takashi
Author_Institution :
Grad. Sch. of Syst. & Inf. Eng., Univ. of Tsukuba, Tsukuba, Japan
Abstract :
The purpose of this research is to realize a motion along a straight line by a unicycle robot. The robot consists of upper and lower bodies connected with a joint. Our final target of this research is to realize navigation in indoor environment with the robot. In this paper, we describe the driving control system, and show results of the motion desired.
Keywords :
intelligent robots; mobile robots; motion control; driving control system; indoor environment; unicycle robot path tracking; upper lower bodies; wide type wheel; Angular velocity; Angular velocity control; Axles; Control systems; Intelligent robots; Mobile robots; Motion control; Navigation; Robot kinematics; Wheels;
Conference_Titel :
Advanced Motion Control, 2010 11th IEEE International Workshop on
Conference_Location :
Nagaoka, Niigata
Print_ISBN :
978-1-4244-6668-9
Electronic_ISBN :
1943-6572
DOI :
10.1109/AMC.2010.5464121
