TY - GEN
T1 - Development of holonomic omnidirectional vehicle with "Omni- Ball"
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
AU - Tadakuma, Kenjiro
AU - Tadakuma, Riichiro
AU - Berengeres, Jose
PY - 2007/12/1
Y1 - 2007/12/1
N2 - In this paper, mechanical design of a novel spherical wheel shape for a omni-directional mobile robot is presented. The wheel is used in a omnidirectional mobile robot realizing high step-climbing capability with its hemispherical wheel. Conventional Omniwheels can realize omnidirectional motion, however they have a poor step overcoming ability due to the sub-wheel small size. The proposed desing solves this drawback by means of a 4 wheeled design. "Omni-Ball" is formed by two passive rotational hemispherical wheels and one active rotational axis. An actual prototype model has been developed to illustrate the concept and to perform preliminary motion experiments, through which the basic performance of the Omnidirectional vechicle with this proposed Omni-Ball mechanism was confirmed. An prototype has been developed to illustrate the concept. Motion experiments, with a test vehicle are also presented.
AB - In this paper, mechanical design of a novel spherical wheel shape for a omni-directional mobile robot is presented. The wheel is used in a omnidirectional mobile robot realizing high step-climbing capability with its hemispherical wheel. Conventional Omniwheels can realize omnidirectional motion, however they have a poor step overcoming ability due to the sub-wheel small size. The proposed desing solves this drawback by means of a 4 wheeled design. "Omni-Ball" is formed by two passive rotational hemispherical wheels and one active rotational axis. An actual prototype model has been developed to illustrate the concept and to perform preliminary motion experiments, through which the basic performance of the Omnidirectional vechicle with this proposed Omni-Ball mechanism was confirmed. An prototype has been developed to illustrate the concept. Motion experiments, with a test vehicle are also presented.
KW - Mechanical Design
KW - Omni-Ball
KW - Omni-Wheel
KW - Omnidirectional mobility
KW - Spherical Wheel
KW - Step-Climbing
UR - http://www.scopus.com/inward/record.url?scp=51349114170&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349114170&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399560
DO - 10.1109/IROS.2007.4399560
M3 - Conference contribution
AN - SCOPUS:51349114170
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 33
EP - 39
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -