TY - GEN
T1 - Development of passive type double wheel caster unit based on analysis of feasible braking force and moment set
AU - Saida, Masao
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
PY - 2011/12/29
Y1 - 2011/12/29
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84455175415&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84455175415&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048373
DO - 10.1109/IROS.2011.6048373
M3 - Conference contribution
AN - SCOPUS:84455175415
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 311
EP - 317
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -