Kinematic analysis on omni-directional mobile robot with double-wheel-type active casters

Author

LEE, Jae Hoon ; Kim, Bong Keun ; Tanikawa, Tamio ; Ohba, Kohtaro

Author_Institution

AIST, Tokyo

fYear

2007

fDate

17-20 Oct. 2007

Firstpage

1217

Lastpage

1221

Abstract

An active caster is developed as a distributed actuation module which can endow objects with mobility on the planar workspace. Kinematics of a mobile robot with the proposed double-wheel-type active caster is investigated in this paper. A closed form kinematics of omni-directional mobile robot which consists of multiple double-wheel-type active casters is studied. Besides, kinematic characteristic is analyzed by using kinematic isotropic index and force transmission ratio. As a result, optimal condition for the robot employing the proposed double-wheel-type active caster is also proposed.

Keywords

mobile robots; robot kinematics; distributed actuation module; double-wheel-type active casters; force transmission ratio; kinematic analysis; kinematic isotropic index; omnidirectional mobile robot; Control systems; Humanoid robots; Humans; Kinematics; Leg; Legged locomotion; Mobile robots; Orbital robotics; Roads; Wheels; Active Caster; Distributed Actuation; Kinematic Analysis; Omni-directional Mobile Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems, 2007. ICCAS '07. International Conference on

Conference_Location

Seoul

Print_ISBN

978-89-950038-6-2

Electronic_ISBN

978-89-950038-6-2

Type

conf

DOI

10.1109/ICCAS.2007.4406520

Filename

4406520