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Design of a highly maneuverable wheeled mobile robot
Massachusetts Institute of Technology, MIT.
Massachusetts Institute of Technology, MIT.
2008 (English)In: Unmanned Systems Technology X, Bellingham, WA: SPIE - International Society for Optical Engineering, 2008, p. 96219-96219Conference paper, Published paper (Refereed)
Abstract [en]

An omnidirectional mobile robot is able, kinematically, to move in any direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional mobile robots have considered the case of motion on flat, smooth terrain. In this paper, an investigation of the design and analysis of an omnidirectional mobile robot for use in rough terrain is presented. Kinematic and geometric properties of the active split offset caster drive mechanism are investigated along with system and subsystem design guidelines. An optimization method is implemented to explore the design space. Use of this method results in a robot that has higher mobility than a robot designed using engineering judgment. A point design generated by the optimization method is shown for a meter-scale mobile robot.

Place, publisher, year, edition, pages
Bellingham, WA: SPIE - International Society for Optical Engineering, 2008. p. 96219-96219
Series
Proceedings of SPIE - International Society for Optical Engineering, ISSN 0277-786X ; 6962
Keywords [en]
Design, Isotropy, Mobile robots, Omnidirectional vehicles, Rough terrain, UGV
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20764DOI: 10.1117/12.782201ISI: 000257316300038Scopus ID: 2-s2.0-44349153453ISBN: 978-0-8194-7153-6 OAI: oai:DiVA.org:hh-20764DiVA, id: diva2:586735
Conference
Conference on Unmanned Systems Technology X, MAR 17-20, 2008, Orlando, FL
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2018-03-22Bibliographically approved

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Iagnemma, Karl

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf