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Proceedings Paper

Mid-sized omnidirectional robot with hydraulic drive and steering
Author(s): Carl G. Wood; Trent Perry; Douglas Cook; Russell Maxfield; Morgan E. Davidson
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Paper Abstract

Through funding from the US Army-Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program, Utah State University's (USU) Center for Self-Organizing and Intelligent Systems (CSOIS) has developed the T-series of omni-directional robots based on the USU omni-directional vehicle (ODV) technology. The ODV provides independent computer control of steering and drive in a single wheel assembly. By putting multiple omni-directional (OD) wheels on a chassis, a vehicle is capable of uncoupled translational and rotational motion. Previous robots in the series, the T1, T2, T3, ODIS, ODIS-T, and ODIS-S have all used OD wheels based on electric motors. The T4 weighs approximately 1400 lbs and features a 4-wheel drive wheel configuration. Each wheel assembly consists of a hydraulic drive motor and a hydraulic steering motor. A gasoline engine is used to power both the hydraulic and electrical systems. The paper presents an overview of the mechanical design of the vehicle as well as potential uses of this technology in fielded systems.

Paper Details

Date Published: 30 September 2003
PDF: 8 pages
Proc. SPIE 5083, Unmanned Ground Vehicle Technology V, (30 September 2003); doi: 10.1117/12.497169
Show Author Affiliations
Carl G. Wood, Utah State Univ. (United States)
Trent Perry, Utah State Univ. (United States)
Douglas Cook, Utah State Univ. (United States)
Russell Maxfield, Utah State Univ. (United States)
Morgan E. Davidson, Utah State Univ. (United States)


Published in SPIE Proceedings Vol. 5083:
Unmanned Ground Vehicle Technology V
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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