Omnidirectional vehicles have been developed and widely applied in several areas, but most of them are designed for the case of motion on flat, smooth terrain, and are not feasible for outdoor usage. This paper presents an omnidirectional mobile robot that possesses high mobility in rough terrain. The omnidirectional robot employs four sets of modules called active split offset caster (ASOC). The ASOC module has two independently-driven wheels that produce arbitrary planar translational velocity, enabling the robot to achieve its omnidirectional mobility. Each module is connected to the main body of the robot via a parallel link with shock absorbers, allowing the robot to conform to uneven terrain. In this paper, a design and development for the ASOC-driven omnidirectional mobile robot in rough terrain are described. Also, a control scheme that takes into account a kinematics of the omnidirectional mobile robot is presented. The omnidirectional mobility of the robot regardless of ifs heading direction is experimentally evaluated based on a metric called omnidirectional mobility index.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Design, Development, and Mobility Test of an Omnidirectional Mobile Robot for Rough Terrain


    Beteiligte:
    G. Ishigami (Autor:in) / E. Pineda (Autor:in) / J. Overholt (Autor:in) / G. Hudas (Autor:in) / K. Iagnemma (Autor:in)

    Erscheinungsdatum :

    2012


    Format / Umfang :

    13 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Design, Development, and Mobility Test of an Omnidirectional Mobile Robot for Rough Terrain

    Ishigami, Genya / Pineda, Elvine / Overholt, Jim et al. | Tema Archiv | 2013


    Design, development, and mobility evaluation of an omnidirectional mobile robot for rough terrain

    Ishigami, Genya / Iagnemma, Karl / Overholt, Jim et al. | British Library Online Contents | 2015


    Design Of An Omnidirectional Mobile Robot For Rough Terrain

    M. Udengaard / K. Iagnemma | NTIS | 2007



    Analysis, design, and control of an omnidirectional mobile robot in rough terrain

    Udengaard, Martin Richard | DSpace@MIT | 2008

    Freier Zugriff