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

共 50 条

[21] Control of an omnidirectional mobile robot
Watanabe, K
1998 SECOND INTERNATIONAL CONFERENCE ON KNOWLEDGE-BASED INTELLIGENT ELECTRONIC SYSTEMS, KES'98 PROCEEDINGS, VOL 1, 1998, : 51 - 60
[22] A novel collaborative path planning algorithm for 3-wheel omnidirectional Autonomous Mobile Robot
Eyuboglu, Meltem
Atali, Gokhan
ROBOTICS AND AUTONOMOUS SYSTEMS, 2023, 169
[23] A study of tipping stability for omnidirectional mobile robot with active dual-wheel caster assemblies
Safar M.J.A.
Watanabe K.
Maeyama S.
Nagai I.
Artificial Life and Robotics, 2012, 17 (1) : 145 - 151
[24] A Study of Tipping Stability for Omnidirectional Mobile Robot with Active Dual-wheel Caster Assemblies
Safar, M. Juhairi Aziz
Watanabe, Keigo
Maeyama, Shoichi
Nagai, Isaku
PROCEEDINGS OF THE SEVENTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 17TH '12), 2012, : 192 - 195
[25] Ospheel: Design of an Omnidirectional Spherical-sectioned Wheel
Hayat, A. A.
Shi Yuyao
Elangovan, K.
Elara, M. R.
Abdulkader, R. E.
2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2020, : 2571 - 2576
[26] Reinforcement learning on a omnidirectional mobile robot
Hafner, R
Riedmiller, M
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2003, : 418 - 423
[27] Motion control of an omnidirectional mobile robot
Li, Xiang
Zell, Andreas
ICINCO 2007: PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-1: ROBOTICS AND AUTOMATION, VOL 1, 2007, : 125 - 132
[28] A Trajectory Correction of an Omnidirectional Mobile Robot
Maher, Mkhinini
Jilani, Knani
2012 16TH IEEE MEDITERRANEAN ELECTROTECHNICAL CONFERENCE (MELECON), 2012, : 677 - 681
[29] An Omnidirectional Mobile Robot: Concept and Analysis
Ma, Shugen
Ren, Chao
Ye, Changlong
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012), 2012,
[30] Omnidirectional Vision for Mobile Robot Navigation
Taha, Zahari
Chew, Jouh Yeong
Yap, Hwa Jen
JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS, 2010, 14 (01) : 55 - 62

← 1 2 3 4 5 →