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Proceedings Paper

Design of a highly maneuverable wheeled mobile robot
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Paper Abstract

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.

Paper Details

Date Published: 16 April 2008
PDF: 12 pages
Proc. SPIE 6962, Unmanned Systems Technology X, 696219 (16 April 2008); doi: 10.1117/12.782201
Show Author Affiliations
Martin Udengaard, Massachusetts Institute of Technology (United States)
Karl Iagnemma, Massachusetts Institute of Technology (United States)

Published in SPIE Proceedings Vol. 6962:
Unmanned Systems Technology X
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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