A floor cleaning robot using Swedish wheels

Author

Gao, Xueshan ; Li, Kejie ; Wang, Yan ; Men, Guangliang ; Zhou, Dawei ; Kikuchi, Koki

Author_Institution

Intell. Robot. Inst., Beijing Inst. of Technol., Beijing

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

2069

Lastpage

2073

Abstract

This paper presents a floor cleaning robot equipped with Swedish wheels. It can be used in crowded places such as houses, train station, airport etc. the robot can perform its work in autonomous and teleoperated mode. Moreover the robot can pivot around without turning, can avoid obstacles and is provided with automatic power management ability. And meanwhile, the kinematics for its control and controlling methods are studied and demonstrated. This new structure, smooth locomotion capability and high working efficiency are verified by experimentation.

Keywords

collision avoidance; mobile robots; robot kinematics; service robots; telerobotics; Swedish wheels; automatic power management ability; autonomous mode; floor cleaning robot; obstacle avoidance; robot kinematics; teleoperated mode; Automatic control; Cleaning; Control systems; Intelligent robots; Mobile robots; Optical sensors; Robot sensing systems; Robotics and automation; Service robots; Wheels; Cleaning robot; Hierarchically parallel control; Mobile robot; Robotic cleaner; Swedish wheel;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522487

Filename

4522487