Development of passive type double wheel caster unit based on analysis of feasible braking force and moment set

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

7 Citations (Scopus)

Abstract

We introduce passive mobile robots consisting of various wheels; omnidirectional wheels or one-wheel casters, which are controlled by servo brakes. These robots can realize several functions, such as path tracking, gravity compensation on a slope, and collision avoidance function, by controlling only the servo brakes. They employ passive dynamics with respect to the force applied by a human. In this paper, we derive and analyze a feasible braking force/moment that is necessary for controlling the robot with servo brakes. We reveal the advantages and disadvantages of the feasible braking force/moment of each robot developed by us. In addition, we propose a new passive type double wheel caster unit, called PDC, on the basis of the analysis. We develop a prototype PDC called PDC-P1. Finally, we handle a long object by two PDC-P1s actually, and realize the path tracking function as example to confirm its validity.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages311-317
Number of pages7
DOIs
Publication statusPublished - 2011 Dec 29
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 2011 Sep 252011 Sep 30

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period11/9/2511/9/30

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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