Results 1 - 6 of 6

Controlling Omni-directional Wheels of a MSL RoboCup Autonomous Mobile Robot

by O Ribeiro, Ivo Moutinho, Pedro Silva, Carlos Fraga, Nino Pereira
"... Abstract. Autonomous Mobile Locomotion is of extreme importance in RoboCup robots. Even though in 2050 the robotic team will very likely use legs rather than wheels, at the moment all teams on middle size league use wheels to overcome other problems first. Most teams are using two driving wheels (wi ..."
Abstract - Cited by 1 (0 self) - Add to MetaCart
(with one or two cast wheels), four driving wheels and even three driving wheels. The Minho team has been using two driving wheels for the last 5 years (with two caster wheels), but for reaction speed optimization purposes a new approach of three wheels is being developed. This paper deals

Development of a Omni-directional Self-Balancing Robot Wheelchair

by Jaerim Yu, Yunsu Park, Sangtae Kim, Sangjoo Kwon
"... Abstract In this paper, we report a self-balancing robot wheelchair which has the capability of keeping upright posture regardless of the terrain inclination in terms of the three dimensional balancing motion. It has the mobility of five degrees of freedom, where pitching, yawing, and forward motion ..."
Abstract - Add to MetaCart
motions are generated by the two-wheeled inverted pendulum mechanism and the rolling and vertical motions are implemented by the movement of the tilting mechanism. Several design considerations are suggested for the sliding type vehicle body, wheel actuator module, tilting actuator module, power

DESIGN AND DEVELOPMENT OF AN AGILE, MAN PORTABLE UNMANNED GROUND VEHICLE

by Karl Iagnemma , Martin Udengaard , Genya Ishigami , Matthew Spenko , Sinan Oncu , Imad Khan , James Overholt , Gregory Hudas
"... ABSTRACT An omnidirectional unmanned ground vehicle (UGV) is able to move in any planar direction regardless of its current pose. To date, nearly all designs and analyses of omnidirectional robots have considered the case of motion on flat, smooth terrain. This paper presents the design, analysis, ..."
Abstract - Add to MetaCart
framework for UGV design optimization is presented that considers vehicle kinematic isotropy, wheel-terrain interaction properties, predicted obstacle traversability, and maximum traversable distance over various outdoor terrain types. The results are used to design two small (i.e. 1m characteristic length

Iagnemma, in: Design of an Omnidirectional Mobile Robot for Rough Terrain

by Martin Udengaard, Karl Iagnemma - 2008 IEEE International Conference on Robotics and Automation , 2008
"... Abstract—An omnidirectional mobile robot is able, kinematically, to move in any planar direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional robots have considered the case of motion on flat, smooth terrain. This paper presents design constraints and guide ..."
Abstract - Cited by 2 (0 self) - Add to MetaCart
and guidelines for designing an omnidirectional mobile robot propelled by active split offset casters to be driven in rough terrain. Geometric constraints on wheel and linkage sizes are presented. The effects of terrain roughness and loss of wheel contact are analyzed. The vehicle design is optimized

A NOVEL DRIVE SYSTEM TO IMPROVE THE EFFICIENCY OF INDOOR TRANSPORTATION VEHICLES

by Utkarsh Ranjan, Pulkit Jain, Lokesh Dutt, Manish Singh Bisht
"... Indoor transportation vehicles play a critical role for physically impaired, however they may have an even wider scope of application, from an inter-industrial transportation vehicle to a human transporter. A simple indoor transporter has been modified by a hybrid drive system, by combining the char ..."
Abstract - Add to MetaCart
. It was found that a weight distribution ratio of.5 was suitable for concrete platforms, with a maximum reduction of about 53 % in power consumption. The vehicle constituted a bag skirt and two centrifugal air blowers for air cushion creation, with two wheels for propulsion and handling, powered by two

unknown title

by unknown authors
"... Abstract—In this paper, a new type of omnidirectional mobile platform with four-wheel drive (4WD) mechanism is presented. The mobile platform includes a pair of normal wheels on the rear side of the platform and a pair of omni-wheels on the front side. The normal wheel in rear and the omni-wheel in ..."
Abstract - Add to MetaCart
Abstract—In this paper, a new type of omnidirectional mobile platform with four-wheel drive (4WD) mechanism is presented. The mobile platform includes a pair of normal wheels on the rear side of the platform and a pair of omni-wheels on the front side. The normal wheel in rear and the omni-wheel
Results 1 - 6 of 6