Tetrahedral Mobile Robot with Spherical Omnidirectional Wheel

被引：7

作者：

Tadakuma, Kenjiro ^{[1
]}

Tadakuma, Riichiro ^{[2
]}

Berengueres, Jose ^{[3
]}

机构：

[1] MIT, 77 Massachusetts Ave, Cambridge, MA 02139 USA

[2] Natl Inst Adv Ind Sci & Technol, Intelligent Syst Res Inst, ISRI AIST CNRS Joint Japanese French Robot Lab, Tsukuba, Ibaraki 3058568, Japan

[3] CERN, Compact Muon Solenoid Expt, CH-1211 Geneva 23, Switzerland

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2008年 / 20卷 / 01期

关键词：

throwable robot; tetrahedral shape; Omni-Ball; omnidirectional movement; step climbing;

D O I：

10.20965/jrm.2008.p0125

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, a mobile robot with a tetrahedral shape for its basic structure is presented as a thrown robot for search and rescue robot application. The Tetrahedral Mobile Robot has its body in the center of the whole structure. The driving parts that produce the propelling force are located at each corner. As a driving wheel mechanism, we have developed the "Omni-Ball" with one active and two passive rotational axes, which is explained in detail. An actual prototype model has been developed to illustrate the concept and to perform preliminary motion experiments, through which the basic performance of the Tetrahedral Mobile Robot was confirmed.

引用

页码：125 / 134

页数：10

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