Misc.

2012

A Study of Tipping Stability for Omnidirectional Mobile Robot with Active Dual-wheel Caster Assemblies

PROCEEDINGS OF THE SEVENTEENTH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL LIFE AND ROBOTICS (AROB 17TH '12)
  • M. Juhairi Aziz Safar
    • ,
  • Keigo Watanabe
    • ,
  • Shoichi Maeyama
    • ,
  • Isaku Nagai
Volume
17
Number
1
First page
192
Last page
195
Language
English
Publishing type
DOI
10.1007/s10015-012-0031-7
Publisher
ALIFE ROBOTICS CO, LTD
A holonomic omnidirectional mobile robot is well known for a high mobility and capability in maneuvering. In our approach, the holonomic omnidirectional mobile robot was developed using two active dual-wheel caster assemblies with conventional tires. In this paper, we are focusing on the stability issues in the tipping problem that may occur in the existing of static and dynamic environments. We derive the dynamic model of the omnidirectional mobile robot to estimate the supporting force at each wheel and evaluate it through simulations.
Link information
DOI
https://doi.org/10.1007/s10015-012-0031-7
Web of Science
https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000387807100041&DestApp=WOS_CPL
ID information
  • DOI : 10.1007/s10015-012-0031-7
  • Web of Science ID : WOS:000387807100041
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