Development of omni-directional vehicle with step-climbing ability

被引:0
|
作者
Chugo, D [1 ]
Kawabata, K [1 ]
Kaetsu, H [1 ]
Asama, H [1 ]
Mishima, T [1 ]
机构
[1] Saitama Univ, Saitama 3388570, Japan
来源
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2003年
关键词
omni-directional mobile robot; holonomic robot; irregular terrain; passive suspension;
D O I
暂无
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
In this study, we propose a new holonomic mobile mechanism which is capable of step-climbing. This mechanism realizes to move in any direction on the flat floor and pass over steps and slopes in one (fore and hind) direction. The vehicle equips with seven omni-directional wheels with cylindrical free rollers and a passive body axis that provides to change the shape of the body on the rough terrain. There is no need for additional actuators or sensors for the passive body axis. In our previous work, we constructed a prototype mobile mechanism and analyzed its kinematic characteristics. In this paper, we design a new control scheme and improve the mechanism for passing over the steps more stably. The performance of the prototype system is verified through experiments and computer simulations.
引用
收藏
页码:3849 / 3854
页数:6
相关论文
共 50 条
  • [21] Navy omni-directional vehicle (ODV) development - where the rubber meets the deck
    McGowen, H.
    Fink, M.D.
    Naval Engineers Journal, 2000, 112 (05) : 217 - 228
  • [22] The design of an omni-directional broadband planar vehicle antenna
    Yang, Deqiang
    Pan, Jin
    Nie, Zaiping
    2006 6TH INTERNATIONAL CONFERENCE ON ITS TELECOMMUNICATIONS PROCEEDINGS, 2006, : 449 - +
  • [23] Design, Modeling and Control of an Omni-Directional Aerial Vehicle
    Brescianini, Dario
    D'Andrea, Raffaello
    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2016, : 3261 - 3266
  • [24] Collision-free control of an omni-directional vehicle
    Galicki, Miroslaw
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2009, 57 (09) : 889 - 900
  • [26] Fuzzy control for omni-directional vehicle with ball wheels
    Iida, Kenichi
    Mori, Taichi
    Yasuno, Takashi
    IEEJ Transactions on Electronics, Information and Systems, 2009, 129 (11) : 2019 - 2026
  • [27] Omni-Directional Stereoscopic Images from One Omni-Directional Camera
    Vajirasak Vanijja
    Susumu Horiguchi
    Journal of VLSI signal processing systems for signal, image and video technology, 2006, 42 : 91 - 101
  • [28] Omni-directional stereoscopic images from one omni-directional camera
    Vanijja, V
    Horiguchi, S
    JOURNAL OF VLSI SIGNAL PROCESSING SYSTEMS FOR SIGNAL IMAGE AND VIDEO TECHNOLOGY, 2006, 42 (01): : 91 - 101
  • [29] Caterpillar Climbing: Robust, Tension-Based Omni-Directional Locomotion
    Vaughan, Samuel C.
    Lin, Huai-ti
    Trimmer, Barry A.
    JOURNAL OF INSECT SCIENCE, 2018, 18 (03):
  • [30] Wheel control based on body configuration for step-climbing vehicle
    Chugo, Daisuke
    Kawabata, Kuniaki
    Kaetsu, Hayato
    Asama, Hajime
    Mishima, Taketoshi
    FIELD AND SERVICE ROBOTICS, 2006, 25 : 331 - +