| Presentation | 2002/10/4 Development of Omni-Directional Mobile Robot with Step-Climbing Ability : Development of control and improvement of the mechanism of the robot Daisuke CHUGO, Kuniaki KAWABATA, Hayato KAETSU, Hajime ASAMA, Taketoshi MISHIMA, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In this study, we propose a new holonomic mobile mechanism capable of climbing. This mechanism can move in any-direction on the flat floor and pass over steps and slopes in one direction. The vehicle is equipped with wheels seven omni-directional wheels with cylindrical free rollers and a passive body that provides to change the shape of the body on rough terrain. There is no need for additional actuators or sensors for the passive body axis. In this paper, we design a new control scheme and improve the mechanism for passive over the steps. The performance of the prototype system is verified through experiments and computer simulations. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Omni-Directional Mobile Robot / Holonomic Robot / Irregular Terrain / Passive Suspension |
| Paper # | SITE2002-24 |
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| Conference Information | |
| Committee | SITE |
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| Conference Date | 2002/10/4(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
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| Paper Information | |
| Registration To | Social Implications of Technology and Information Ethics (SITE) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Development of Omni-Directional Mobile Robot with Step-Climbing Ability : Development of control and improvement of the mechanism of the robot |
| Sub Title (in English) | |
| Keyword(1) | Omni-Directional Mobile Robot |
| Keyword(2) | Holonomic Robot |
| Keyword(3) | Irregular Terrain |
| Keyword(4) | Passive Suspension |
| 1st Author's Name | Daisuke CHUGO |
| 1st Author's Affiliation | Saitama University() |
| 2nd Author's Name | Kuniaki KAWABATA |
| 2nd Author's Affiliation | RIKEN (The institute of Physical and Chemical Research) |
| 3rd Author's Name | Hayato KAETSU |
| 3rd Author's Affiliation | RIKEN (The institute of Physical and Chemical Research) |
| 4th Author's Name | Hajime ASAMA |
| 4th Author's Affiliation | RIKEN (The institute of Physical and Chemical Research) |
| 5th Author's Name | Taketoshi MISHIMA |
| 5th Author's Affiliation | Saitama University |
| Date | 2002/10/4 |
| Paper # | SITE2002-24 |
| Volume (vol) | vol.102 |
| Number (no) | 367 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |