TY - GEN
T1 - Structural design for omni-directional mobile base of passive-type mobile robot
AU - Hirata, Yasuhisa
AU - Song, Hamin
AU - Wang, Zhidong
AU - Kosuge, Kazuhiro
PY - 2007/12/18
Y1 - 2007/12/18
N2 - We have developed a passive-type mobile robot based on the concept of the passive robotics. Different from the active-type robot with servo motors, the developed passive-type robot is controlled by using the servo brakes, in which its driving force is applied by a human operator. Therefore, the original motion characteristics of the robot with respect to the human handling force are very important for its maneuverability and it is changed by the structural design of the robot such as the arrangement of the wheels. In this paper, we investigate the original motion characteristics of the passive-type omni-directional mobile robot and discuss the equilibrium orientation of the robot and the required handling force of the human operator. Finally, we consider the appropriate arrangement of the wheels of the robot for realizing the human support system such as object handling system and the walking support system.
AB - We have developed a passive-type mobile robot based on the concept of the passive robotics. Different from the active-type robot with servo motors, the developed passive-type robot is controlled by using the servo brakes, in which its driving force is applied by a human operator. Therefore, the original motion characteristics of the robot with respect to the human handling force are very important for its maneuverability and it is changed by the structural design of the robot such as the arrangement of the wheels. In this paper, we investigate the original motion characteristics of the passive-type omni-directional mobile robot and discuss the equilibrium orientation of the robot and the required handling force of the human operator. Finally, we consider the appropriate arrangement of the wheels of the robot for realizing the human support system such as object handling system and the walking support system.
KW - Original motion characteristics
KW - Passive robotics
KW - Passive-type mobile robot
KW - Structural design
UR - http://www.scopus.com/inward/record.url?scp=37049019269&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=37049019269&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2007.4303539
DO - 10.1109/ICMA.2007.4303539
M3 - Conference contribution
AN - SCOPUS:37049019269
SN - 1424408288
SN - 9781424408283
T3 - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
SP - 192
EP - 197
BT - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
T2 - 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Y2 - 5 August 2007 through 8 August 2007
ER -