A new wheel control system for the omnidirectional HERMIES-III robot

A new wheel control system for the HERMIES-III robot has been designed, built, and tested. HERMIES-III is a large mobile robot with omnidirectional steering that is designed for human-scale experiments. During each cycle (at 20 Hz), the wheel control system moves the robot toward a goal and calculates the current position of the robot. The system has seven modes for moving to a goal and the goal may be changed during the motion of the robot. The architecture, wheel driver and reckoner, and wheel controller are discussed in detail, and the current status of the system is given