Name
Title | ||
|---|---|---|
Differential-Drive Steering System Using Planetary Gearing For Omnidirectional Mobile Robot |
Abstract | ||
|---|---|---|
Holonomic omnidirectional mobile robot is useful with its high mobility in narrow or crowded area, and omnidirectional robot equipped with normal tires is desired for difference excess, vibration suppression and ride comfort. Caster-drive mechanism using normal tire has been developed to realize a holonomic omnidiredctional robot, however, there remains some problems. This paper presents effective systems to control the caster-drive wheels of omnidirectional mobile robot. Differential-Drive Steering System (DDSS) using planetary gearing is proposed to improve the operation ratio of motors. DDSS generates driving and steering torque effectively from two motors. Simulation results show the proposed system is effective for holonomic omnidirectional mobile robots. |
Year | Venue | Keywords |
|---|---|---|
2009 | ICINCO 2009: PROCEEDINGS OF THE 6TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2: ROBOTICS AND AUTOMATION | Mobile robots, Movement, Robot kinematics, Vehicles, Wheels, Ride comfort |
Field | DocType | Citations |
Differential (mechanical device),Robot control,Steering system,Control engineering,Robot end effector,Omnidirectional mobile robot,Engineering,Mobile robot navigation,Mobile robot | Conference | 0 |
PageRank | References | Authors |
0.34 | 1 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hideo Kitagawa | 1 | 33 | 9.09 |
| Takashi Ohno | 2 | 0 | 0.34 |
| Yuki Ueno | 3 | 0 | 1.01 |
| Kazuhiko Terashima | 4 | 100 | 33.03 |