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

Masao Saida; Yasuhisa Hirata; Kazuhiro Kosuge

doi:10.1109/IROS.2011.6048373

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

Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publication	Celebrating 50 Years of Robotics
Pages	311-317
Number of pages	7
DOIs	https://doi.org/10.1109/IROS.2011.6048373
Publication status	Published - 2011 Dec 29
Event	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States Duration: 2011 Sep 25 → 2011 Sep 30

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Other

Other	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country	United States
City	San Francisco, CA
Period	11/9/25 → 11/9/30

ASJC Scopus subject areas

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

Access to Document

10.1109/IROS.2011.6048373

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Saida, M., Hirata, Y., & Kosuge, K. (2011). Development of passive type double wheel caster unit based on analysis of feasible braking force and moment set. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 311-317). [6048373] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048373

Development of passive type double wheel caster unit based on analysis of feasible braking force and moment set. / Saida, Masao; Hirata, Yasuhisa ; Kosuge, Kazuhiro.

IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 311-317 6048373 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Saida, M, Hirata, Y & Kosuge, K 2011, Development of passive type double wheel caster unit based on analysis of feasible braking force and moment set. in IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics., 6048373, IEEE International Conference on Intelligent Robots and Systems, pp. 311-317, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States, 11/9/25. https://doi.org/10.1109/IROS.2011.6048373

Saida M, Hirata Y , Kosuge K. Development of passive type double wheel caster unit based on analysis of feasible braking force and moment set. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 311-317. 6048373. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048373

Saida, Masao ; Hirata, Yasuhisa ; Kosuge, Kazuhiro. / Development of passive type double wheel caster unit based on analysis of feasible braking force and moment set. IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. pp. 311-317 (IEEE International Conference on Intelligent Robots and Systems).

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