DocumentCode
3239714
Title
A new wheel control system for the omnidirectional HERMIES-III robot
Author
Reister, David B.
Author_Institution
Oak Ridge Nat. Lab., TN, USA
fYear
1991
fDate
9-11 Apr 1991
Firstpage
2322
Abstract
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
Keywords
mobile robots; navigation; position control; HERMIES-III; mobile robot; omnidirectional steering; position control; wheel control system; Control systems; Design engineering; Humans; Intelligent robots; Mobile robots; Monitoring; Robot sensing systems; System testing; Systems engineering and theory; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.131805
Filename
131805
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