Title :
Motion Study of an Omni-Directional Rover for Step Climbing
Author :
Low, K.H. ; Loh, W.K. ; Wang, Heng ; Angeles, Jorge
Author_Institution :
School of Mechanical and Production Engineering Nanyang Technological University Singapore 639798; Email: mkhlow@ntu.edu.sg
Abstract :
In this paper, a study of a wheeled mobile robot (WMR) with omni-directional mobility and rover-like climbing ability is presented. Various rovers with robust locomotion design had been developed. However, the rover locomotion design with omni-directional mobility has not been addressed commonly. Shrimp suspension system and parallel bogies were employed as robot locomotion. It adapts to the terrain profile passively and it has better climbing capability than other rovers. To achieve a singularityless motion, the kinematic model of a wheeled mobile robot (WMR), including a platform equipped with six omni-directional wheels (ODWs), is formulated. The contents of this study are the design principle, kinematics, and motion studies. Also, experimental results have been employed to verify the model developed.
Keywords :
Locomotion; Omni-directional Wheels; Rover; Simulation and Experiment; Wheeled Mobile Robot; Humans; Intelligent robots; Kinematics; Machine intelligence; Mobile robots; Parallel robots; Production engineering; Robustness; Service robots; Wheels; Locomotion; Omni-directional Wheels; Rover; Simulation and Experiment; Wheeled Mobile Robot;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570340