DocumentCode :
2546211
Title :
ROLLMOBS, a new omnimobile robot
Author :
Ferriere, L. ; Raucent, B. ; Samin, J.C.
Author_Institution :
Dept. of Mech. Eng., Univ. Catholique de Louvain, Belgium
Volume :
2
fYear :
1997
fDate :
7-11 Sep 1997
Firstpage :
913
Abstract :
Typical mobile robot structures (e.g. wheelchair or carlike, ...) do not have the required mobility for common applications such as displacement in a corridor, hospital. office, ... New structures based on the “universal wheel” (i.e. wheel equipped with free rotating rollers) have been developed to increase mobility. However these structures have important drawbacks such as vertical vibration and limited load capacity. This paper presents a new type of omnimobile platform using an original combination of spherical wheel and universal wheel. This structure will improve the robot capabilities, i.e., load capacity, surmountable bumps and vibrations
Keywords :
mobile robots; vibration control; ROLLMOBS; free rotating rollers; load capacity; mobile robot structures; mobility; omnimobile robot; spherical wheel; surmountable bumps; universal wheel; vertical vibration; Automotive engineering; Hospitals; Mechanical engineering; Mobile robots; Robot kinematics; Service robots; Shafts; Vibrations; Wheelchairs; Wheels;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location :
Grenoble
Print_ISBN :
0-7803-4119-8
Type :
conf
DOI :
10.1109/IROS.1997.655118
Filename :
655118
Link To Document :
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