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Proceedings Paper

Step climbing omnidirectional mobile robot with passive linkages
Author(s): Daisuke Chugo; Kuniaki Kawabata; Hayato Kaetsu; Hajime Asama; Taketoshi Mishima
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Paper Abstract

In this paper, we develop a holonomic omni-directional mobile vehicle with step-climbing ability. This system realizes omni-directional motion on flat floor using special wheels and passes over the step in forward or backward direction using the passive linkage mechanism. Our key ideas are the following topics. First topic is new omnidirectional mobile mechanism which consists of special wheels and passive linkage mechanism. Second topic is new passive linkage mechanism which can change its body configuration easily when the vehicle passes over the step. Third topic is wheel control reference derivation based on the body configuration, which changes passively during step climbing for reducing wheel slippage. Last topic is wheel control method which keeps the rotation velocity coordination among the wheels for reducing wheel slippage and increasing the step-climbing performance. We verified the effectiveness of our proposed method by the computer simulations and experiments. Utilizing our proposed mechanism and control systems, the vehicle has both omnidirectional mobility and step overcoming function. Furthermore, our developing vehicle can pass over the 128[mm] height step using the wheel which radius is 66[mm]. Its performance is three times larger than one of general wheeled vehicle.

Paper Details

Date Published: 6 December 2005
PDF: 12 pages
Proc. SPIE 6052, Optomechatronic Systems Control, 60520K (6 December 2005); doi: 10.1117/12.648372
Show Author Affiliations
Daisuke Chugo, The Univ. of Tokyo (Japan)
Kuniaki Kawabata, RIKEN (Japan)
Hayato Kaetsu, RIKEN (Japan)
Hajime Asama, The Univ. of Tokyo (Japan)
Taketoshi Mishima, Saitama Univ. (Japan)


Published in SPIE Proceedings Vol. 6052:
Optomechatronic Systems Control
Farrokh Janabi-Sharifi, Editor(s)

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