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.

Linear Visual Servoing-Based Control of the Position and Attitude of Omnidirectional Mobile Robots

2011 ◽  
Vol 5 (4) ◽  
pp. 569-574
Author(s):  
Atsushi Ozato ◽  
◽  
Noriaki Maru ◽  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Visual Servoing ◽  
Rotational Velocity ◽  
Target Position ◽  
Visual Space ◽  
Translational Velocity ◽  
Omnidirectional Mobile Robot ◽  
Camera Angle ◽  
The Difference

This article proposes a Linear Visual Servoing (LVS)-based method of controlling the position and attitude of omnidirectional mobile robots. This article uses two markers to express their target position and attitude in binocular visual space coordinates, based on which new binocular visual space information which includes position and attitude angle information is defined. Binocular visual space information and the motion space of an omnidirectional mobile robot are linearly approximated, and, using the approximation matrix and the difference in the binocular visual space information between a target marker and a robot marker, the robot’s translational velocity and rotational velocity are generated. Since those are all generated based only on disparity information on an image, which is similar to how this is done in existing LVS, a camera angle is not required. Thus, the method is robust against calibration errors in camera angles, as is existing LVS. The effectiveness of the proposed method is confirmed by simulation.

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

Flatness-based control scheme for hardware-in-the-loop simulations of omnidirectional mobile robot

SIMULATION ◽  
2019 ◽  
Vol 96 (2) ◽  
pp. 169-183
Author(s):  
Saumya R Sahoo ◽  
Shital S Chiddarwar
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Simulation Model ◽  
Vision System ◽  
Control Input ◽  
Hardware In The Loop ◽  
Omnidirectional Mobile Robot ◽  
Time Simulation ◽  
Control Scheme ◽  
Hil Simulation

Omnidirectional robots offer better maneuverability and a greater degree of freedom over conventional wheel mobile robots. However, the design of their control system remains a challenge. In this study, a real-time simulation system is used to design and develop a hardware-in-the-loop (HIL) simulation platform for an omnidirectional mobile robot using bond graphs and a flatness-based controller. The control input from the simulation model is transferred to the robot hardware through an Arduino microcontroller input board. For feedback to the simulation model, a Kinect-based vision system is used. The developed controller, the Kinect-based vision system, and the HIL configuration are validated in the HIL simulation-based environment. The results confirm that the proposed HIL system can be an efficient tool for verifying the performance of the hardware and simulation designs of flatness-based control systems for omnidirectional mobile robots.

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.

Calibration of omnidirectional wheeled mobile robots: method and experiments

Robotica ◽  
2013 ◽  
Vol 31 (6) ◽  
pp. 969-980 ◽  
Author(s):  
Yaser Maddahi ◽  
Ali Maddahi ◽  
Nariman Sepehri
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Systematic Errors ◽  
Wheeled Mobile Robot ◽  
Wheeled Mobile Robots ◽  
Omnidirectional Mobile Robot ◽  
Position Errors ◽  
Positioning Errors ◽  
Surface Irregularities ◽  
Omnidirectional Wheels

SUMMARYOdometry errors, which occur during wheeled mobile robot movement, are inevitable as they originate from hard-to-avoid imperfections such as unequal wheels diameters, joints misalignment, backlash, slippage in encoder pulses, and much more. This paper extends the method, developed previously by the authors for calibration of differential mobile robots, to reduce positioning errors for the class of mobile robots having omnidirectional wheels. The method is built upon the easy to construct kinematic formulation of omnidirectional wheels, and is capable of compensating both systematic and non-systematic errors. The effectiveness of the method is experimentally investigated on a prototype three-wheeled omnidirectional mobile robot. The validations include tracking unseen trajectories, self-rotation, as well as travelling over surface irregularities. Results show that the method is very effective in improving position errors by at least 68%. Since the method is simple to implement and has no assumption on the sources of errors, it should be considered seriously as a tool for calibrating omnidirectional mobile having any number of wheels.

scholarly journals Development of a Transformable Mobile Robot with a Variable Wheel Diameter

2007 ◽  
Vol 19 (3) ◽  
pp. 252-257 ◽  
Author(s):  
Keiji Nagatani ◽  
◽  
Mitsuhiro Kuze ◽  
Kazuya Yoshida ◽  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Natural Disaster ◽  
Geometric Analysis ◽  
Search And Rescue ◽  
Compact Form ◽  
Robotic Technology ◽  
Trade Off ◽  
Step Climbing ◽  
Expanded Form

A demand of search and rescue operations using robotic technology increases to mitigate a natural disaster. In searching tasks with mobile robots, particularly in debris-covered environment, there is a trade-off between high-traversability on bumpy surfaces (likely to large robots) and exploration in limited areas (likely to small robots). With this in mind, we developed a small transformable mobile robot that uses a variable wheel diameter and stabilizer length. In its most compact form, the robot is deployable in limited areas and, in its fully expanded form, it traverses relatively large obstacles by expanding its wheel diameter. In this paper, development is detailed in the former sections, and geometric analysis and experiment of its step-climbing capabilities is introduced in the latter sections.

An Untethered Electro-Pneumatic Exosuit for Gait Assistance of People With Foot Drop

2020 ◽  
Author(s):  
Lizzette J. Salmeron ◽  
Gladys V. Juca ◽  
Satesh M. Mahadeo ◽  
Jiechao Ma ◽  
Shuangyue Yu ◽  
...  
Keyword(s):  
Cerebral Palsy ◽  
Mechanical Design ◽  
Load Test ◽  
Foot Drop ◽  
Pneumatic System ◽  
Pneumatic Actuator ◽  
Soft Robot ◽  
Complex Control ◽  
Ankle Exoskeleton

Abstract Individuals with foot drop caused by stroke or cerebral palsy (CP) have a particular need for robotic ankle exoskeleton. This paper proposes an untethered soft robot using an origami actuator to lift the toes of the wearer. The weight, connections, and complex control of the system are reduced through mechanical design. A compact and portable pneumatic system is designed to perform suction and compression with a single pump. The load test of the actuator shows the capability of 300N in 30 kPa. An untethered, simple and affordable robotic ankle exoskeleton is developed with the pneumatic actuator. The wearer can finish its simple 3-step donning procedure within 1 min.

scholarly journals THE MECHANICAL DESIGN AND REALIZATION OF THE OMNIDIRECTIONAL MOBILE ROBOT ODIN

2016 ◽  
Vol 2016 (02) ◽  
pp. 896-899
Author(s):  
Matej Gala ◽  
Vaclav Krys ◽  
Tomas Kot
Keyword(s):  
Mobile Robot ◽  
Mechanical Design ◽  
Omnidirectional Mobile Robot

scholarly journals Pengendalian konvergensi eksponensial untuk omnidirectional mobile robot dengan empat roda

JURNAL ELTEK ◽  
2020 ◽  
Vol 18 (1) ◽  
pp. 108
Author(s):  
Muhammad Jodi Pamenang ◽  
Indrazno Siradjuddin ◽  
Budhy Setiawan
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
Kinematic Model ◽  
Robot Motion ◽  
Control Law ◽  
Task Space ◽  
Wheeled Mobile Robots ◽  
Simulation Experiments ◽  
Omnidirectional Mobile Robot

Tujuan mendasar dari kontrol gerak mobile robot adalah untuk mengarahkan robot ke posisi yang diberikan secara acak pada ruang 2D. Mobile robot dengan roda omni memiliki sifat holonomic di mana memiliki keunggulan kelincahan dan permasalahan pengendalian gerak hanya pada sisi aktuator, sedangkan mobile robot dengan roda konvensional, memiliki permasalahan tambahan pengendalian gerak dalam ruang area operasional robot. Karenanya, robot omni lebih gesit untuk bergerak dalam konfigurasi ruang area kerja apa pun. Makalah ini menyajikan model kontrol konvergensi eksponensial berbasis model untuk mobile robot omnidirectional roda empat. Kontrol yang diusulkan menjamin penurunan kesalahan secara eksponensial dari gerakan robot ke setiap posisi robot yang diinginkan. Pembahasan meliputi model kinematik dan kontrol dari robot bergerak omnidirectional roda empat dan eksperimen simulasi yang telah dilakukan untuk memverifikasi kinerja kontrol yang meliputi lintasan robot 2D, serta nilai error atau kesalahan pada kontrol robot. Hasil dari eksperimen simulasi menunjukkan keefektifan kontrol yang diusulkan. Mobile robot telah bergerak ke posisi yang diinginkan pada garis lurus dengan tujuan robot yang akurat dan niali error atau kesalahan yang didapat ialah |0.02735| serta grafik error telah menurun secara eksponensial.   The fundamental objective of a mobile robot motion control is to navigate the robot to any given arbitrary posture in which robot 2D location and its heading are concerned. Mobile robots with omni wheels have a holonomic properties the advantage is of agility and motion control problems only on the actuator, while mobile robots with conventional wheels, have a problem of motion control the robot in task space. Therefore, the omni-wheeled mobile robots are more agile to move in any task space configuration.  This paper presents a model based exponential convergence control law for a four-wheeled omnidirectional mobile robot. The proposed control law guarantees an exponential error decay of mobile robot motion to any given desired robot posture. The kinematic model and the control law of a four-wheeled omnidirectional mobile robot are discussed. Simulation experiments have been conducted to verify the control law performances which include the 2D robot trajectory, the error signals, and the robot control signals. Results from simulation experiments show the effectiveness of the proposed control law. Mobile robot has moved to the desired position in a straight line with the aim of the robot that is accurate and the error or error obtained is | 0.02735 | and the error graph has decreased exponentially

Design and Development of an Omnidirectional Mobile Robot

2013 ◽  
Vol 432 ◽  
pp. 494-499
Author(s):  
Tey Wei Kang ◽  
Lim Thol Yong ◽  
Yeong Che Fai ◽  
Eileen Su Lee Ming
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Pid Controller ◽  
Design And Development ◽  
Differential Drive ◽  
Omnidirectional Mobile Robot ◽  
Navigation Algorithm ◽  
Direction Of Movement ◽  
Fine Tune

Most mobile robots use differential-drive concept, where they are equipped with two actuators that permit only single-direction rotation at a time. This concept limits the robots navigation because its orientation must always change according to the direction of movement. This paper presents the development of an omnidirectional mobile robot that uses three actuators, aligned in 120 degrees separation and each attached to an omniwheel. By manipulating actuator speed, the robot can navigate to any direction without changing its orientation. UsingNIsbRIO9632xtas the main controller, navigation algorithm is implemented in LabVIEW, integrated with PID controller to fine-tune robot movements.

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