Development of a Holonomic Omni-Directional Mobile Robot with Step-Climbing Ability

2001 ◽  
Vol 13 (2) ◽  
pp. 160-167 ◽  
Author(s):  
Atsushi Yamashita ◽  
◽  
Tatsuya Kanazawa ◽  
Hajime Asama ◽  
Hayato Kaetsu ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Rough Terrain ◽  
Passive Suspension ◽  
Omnidirectional Mobile Robot ◽  
Climbing Ability ◽  
Step Climbing

In this paper, we purpose a new holonomic omnidirectional mobile robot that can pass over steps and rough terrain. A prototype of the omnidirectional mobile robot has seven wheels with free rollers. We adopt a passive suspension for the robot to climb slopes and to pass over steps without actuators and sensors for climbing and analyzed the kinematics of the omnidirectional robot. The performance of the prototype robot is shown through experiments.

Step climbing omnidirectional mobile robot with passive linkages

2005 ◽  
Author(s):  
Daisuke Chugo ◽  
Kuniaki Kawabata ◽  
Hayato Kaetsu ◽  
Hajime Asama ◽  
Taketoshi Mishima
Keyword(s):  
Mobile Robot ◽  
Omnidirectional Mobile Robot ◽  
Step Climbing

scholarly journals Analysis, Design, and Control of an Omnidirectional Mobile Robot in Rough Terrain

2009 ◽  
Vol 131 (12) ◽  
Author(s):  
Martin Udengaard ◽  
Karl Iagnemma
Keyword(s):  
Mobile Robot ◽  
Control Method ◽  
Optimization Method ◽  
Contact Angles ◽  
Design Guidelines ◽  
Rough Terrain ◽  
Uneven Terrain ◽  
Omnidirectional Mobile Robot ◽  
Subsystem Design ◽  
And Control

An omnidirectional mobile robot is able, kinematically, to move in any direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional mobile robots have considered the case of motion on flat, smooth terrain. In this paper, an investigation of the design and control of an omnidirectional mobile robot for use in rough terrain is presented. Kinematic and geometric properties of the active split offset caster drive mechanism are investigated along with system and subsystem design guidelines. An optimization method is implemented to explore the design space. The use of this method results in a robot that has higher mobility than a robot designed using engineering judgment. A simple kinematic controller that considers the effects of terrain unevenness via an estimate of the wheel-terrain contact angles is also presented. It is shown in simulation that under the proposed control method, near-omnidirectional tracking performance is possible even in rough, uneven terrain.

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

2014 ◽  
Vol 32 (6) ◽  
pp. 880-896 ◽  
Author(s):  
Genya Ishigami ◽  
Karl Iagnemma ◽  
Jim Overholt ◽  
Greg Hudas
Keyword(s):  
Mobile Robot ◽  
Rough Terrain ◽  
Design Development ◽  
Omnidirectional Mobile Robot

Mechanical Design of VmaxCarrier2: Omnidirectional Mobile Robot with Function of Step-Climbing

2005 ◽  
Vol 17 (2) ◽  
pp. 198-207 ◽  
Author(s):  
Kenjiro Tadakuma ◽  
◽  
Riichiro Tadakuma ◽  
Shigeo Hirose ◽  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Mechanical Design ◽  
Pneumatic System ◽  
Pneumatic Actuator ◽  
Omnidirectional Mobile Robot ◽  
Transport Vehicle ◽  
Step Climbing

“VmaxCarrier2” is an omnidirectional mobile robot with step-climbing capability, usable as a compact, quiet, durable transport vehicle in cluttered, cramped environments. We have developed several kinds of omnidirectional mobile robots for situations where movement must be possible in any direction, such as “VUTON [1]” and “VmaxCarrier [2, 3].” To construct an omnidirectional mobile robot with a greatly improved capability to climb steps, we developed the Omni-Disc2, a Bent Pneumatic Actuator, and a pneumatic system. These novel components were constructed into a prototype, and through evaluation experiments we have confirmed improved step climbing capability of VmaxCarrier2.

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