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

doi:10.1023/A:1008185917537

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 journal › Article › peer-review

23 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 language	English
Pages (from-to)	257-275
Number of pages	19
Journal	Journal of Intelligent and Robotic Systems: Theory and Applications
Volume	29
Issue number	3
DOIs	https://doi.org/10.1023/A:1008185917537
Publication status	Published - Nov 2000
Externally published	Yes

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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10.1023/A:1008185917537

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Construction of an omnidirectional mobile robot platform based on active dual-wheel caster mechanisms and development of a control simulator. / Han, Fuhua; Yamada, Takaaki; Watanabe, Keigo et al.

In: Journal of Intelligent and Robotic Systems: Theory and Applications, Vol. 29, No. 3, 11.2000, p. 257-275.

Research output: Contribution to journal › Article › peer-review

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

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