Design of an omnidirectional and holonomic wheeled platform prototype

Killough, S.M.; Pin, F.G.

doi:10.1109/robot.1992.220330

Cited by 46 publications

(10 citation statements)

References 12 publications

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“…When all crawlers are driven at the same speed in the same rotation direction, the robot rotates round its center. By (3), this robot has three motion freedoms (X r ; Y r ; ), so that it can move freely in any direction in any posture.…”

Section: Motion Analysismentioning

confidence: 99%

Omni-directional robot and adaptive control method for off-road running

Chen

Mitsutake

Isoda

et al. 2002

IEEE Trans. Robot. Automat.

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This paper presents an off-road omni-directional mobile robot (OOMR) which can run on an uneven road and obstacles. The robot is constructed with four crawler-roller-motor units and can also be called a "roller-crawler type of omni-directional mobile robot." Each crawler-roller-motor unit can be driven independently and the motion of the robot can be controlled by the speed of each motor. We also designed a position and velocity control system for the robot. The robot can be automatically controlled to run in an optional direction and to track an orbit. We also show the adaptive control method for the OOMR. The efficiency of the mechanism and the control method has been verified by many practical running tests and computer simulations.Index Terms-Adaptive control, crawler-roller running mechanism, offroad, omni-directional mobile robot.

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Section: Motion Analysismentioning

confidence: 99%

Omni-directional robot and adaptive control method for off-road running

Chen

Mitsutake

Isoda

et al. 2002

IEEE Trans. Robot. Automat.

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“…Section 4 describes the experimental results and provides insights on the performance of the system. Section 5 demonstrates the practical applicability of the proposed system by working with an omnidirectional robot (7)(8) for robotic trajectory monitoring and uses this panel to serve as a tool to measure the center of gravity of solids with an irregular shape. Section 6 discusses the contributions and potential applications of the proposed floor panel.…”

Section: Introductionmentioning

confidence: 99%

Load-cell Based Smart Floor Panel for Indoor Localization Applications

Cheng

Huang

et al. 2016

The Proceedings of the 4th International Conference on Industrial Application Engineering 2016

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Accurate position detection of indoor objects is crucial for many intelligent life applications. Indoor position detection can be commonly performed using some forms of touch-based floor system. The present study develops a force-sensing floor panel for the indoor localization of human beings and moving objects such as mobile robots. The detailed geometric parameters of the floor panel are determined by simulations. The motion signals are detected by four load cells located at the panel corners and are used to determine the position of the applied force by means of rigid body statics. In addition, a novel recursive algorithm, aiming for calibrating the floor due to possible assembly errors, is proposed to improve the localization accuracy of the panel after installation. Essential tests are performed to examine the system performance. The results indicate that the localization accuracy is approximately 1cm after calibration and can detect people motion provided the walking frequency less than 2 Hz. Finally, a demonstration also presented to highlight other possible applications such as center of gravity measurement of irregular objects.

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“…The single chip board and a recently designed omnidirectional mobile platform [15], [16] were used for these initial experiments. Because of the" limitations to 4 input channels using this board, data from only 3 frontal sonars were used for perception of the environment, while the fourth channel produced information on angular direction to the given navigation goal based on odometry sensor data.…”

Section: Test Implementation For Mobile Robots Navigationmentioning

confidence: 99%

Autonomous navigation of a mobile robot using custom-designed qualitative reasoning VLSI chips and boards

Watanabe²,

Symon³

et al.

Proceedings 1992 IEEE International Conference on Robotics and Automation

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Two types of computer boards including custom-designed VLSI chips have been developed to add a qualitative reasoning capability to the real-time control of autonomous mobi!e robots. The design and operation of these boards are first described and an example of their use for the autonomous navigation of a mobile robot is presented. The development of qualitative reasoning schemes emulating human-like navigation in a-priori unknown environments is discussed. The efficiency of such schemes, which can consist of as little as a dozen qualitative rules, is illustrated in experiments involving an autonomous mobile robot navigating on the basis of very sparse and inaccurate sensor data.

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Design of an omnidirectional and holonomic wheeled platform prototype

Cited by 46 publications

References 12 publications

Omni-directional robot and adaptive control method for off-road running

Omni-directional robot and adaptive control method for off-road running

Load-cell Based Smart Floor Panel for Indoor Localization Applications

Autonomous navigation of a mobile robot using custom-designed qualitative reasoning VLSI chips and boards

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