Title :
Omni-directional mobile robot for autonomic offroad running
Author :
Isoda, Takashi ; Chen, Peng ; Toyota, Toshio ; Hirano, Tatsuya
Author_Institution :
Fac. of Comput. Sci. & Syst. Eng., Kyushu Inst. of Technol., Fukuoka, Japan
fDate :
29 Sep-1 Oct 1997
Abstract :
Presents an omni-directional mobile robot which can run on offroad and run over an obstacle. The robot is constructed with four crawler-roller-motor-units and a center-body. It is equipped with a crawler-roller running system. Each unit can be driven independently and the motion of the robot is controlled by the speed of motors. We also designed a position and velocity control system for the machine. The robot can be automatically controlled to run in optional directions and in any orbit. The efficiency of the mechanism and the autonomic running method have been verified by many practical running tests and computer simulations
Keywords :
mobile robots; motion control; position control; velocity control; autonomic offroad running; crawler-roller-motor-units; omni-directional mobile robot; position control system; velocity control system; Automatic control; Crawlers; Mobile robots; Motion control; Ordinary magnetoresistance; Parallel robots; Production facilities; Robot kinematics; Robotics and automation; Service robots;
Conference_Titel :
Robot and Human Communication, 1997. RO-MAN '97. Proceedings., 6th IEEE International Workshop on
Conference_Location :
Sendai
Print_ISBN :
0-7803-4076-0
DOI :
10.1109/ROMAN.1997.646954