A car transportation system grasping two drive wheels

Naoaki Yonezawa, Koshi Kashiwazaki, Kazuhiro Kosuge, Yasuhisa Hirata, Yusuke Sugahara, Mitsuru Endo, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This article describes the concept of a novel car transportation system including two mobile robots with a lift mechanism for single wheel. The system lifts only two drive wheels of a front-wheel-drive vehicle or a rear-wheel-drive vehicle, and transports them. However, the system has nonholonomic constraints because all wheels of a vehicle are not lifted by the system. This article also describes a motion control method and a vehicle's wheelbase estimate algorithm for the proposed system in order to maneuver the vehicle. The motion control method is based on control theory for a three-wheeled cycle system. On the other hand, the vehicle's wheelbase estimate algorithm includes impedance control, and the system estimates the vehicle's wheelbase from constraint forces during transporting the vehicle. Finally, two experiments show that the proposed system can maneuver the vehicle.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4086-4091
Number of pages6
ISBN (Print)9781467314039
DOIs
Publication statusPublished - 2012 Jan 1
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 2012 May 142012 May 18

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period12/5/1412/5/18

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Yonezawa, N., Kashiwazaki, K., Kosuge, K., Hirata, Y., Sugahara, Y., Endo, M., Kanbayashi, T., Suzuki, K., Murakami, K., & Nakamura, K. (2012). A car transportation system grasping two drive wheels. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 4086-4091). [6225291] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225291