Construction of an omnidirectional mobile robot platform based on active dual-wheel caster mechanisms and development of a control simulator

Fuhua Han, Takaaki Yamada, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

Research output: Contribution to journalArticle

22 Citations (Scopus)

Abstract

In this paper, we describe a new type of holonomic and omnidirectional mobile robot using two driving assemblies, one of which consists of two independent driving wheel mechanisms, just like an active dual-wheel caster with an offset steered axis. Kinematic models of the wheel mechanism and a mobile robot with two driving assemblies are derived, and these models are applied to construct a feedback control system based on a resolved velocity control system for the robot. The effectiveness of the presented method is illustrated by some computer simulations. The prototype of a mobile robot platform using two driving assemblies, which can be controlled by a personal computer or a 3D joystick manipulated by human, is constructed.

Original languageEnglish
Pages (from-to)257-275
Number of pages19
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Volume29
Issue number3
DOIs
Publication statusPublished - Nov 1 2000
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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