Structural design for omni-directional mobile base of passive-type mobile robot

Yasuhisa Hirata, Hamin Song, Zhidong Wang, Kazuhiro Kosuge

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

1 Citation (Scopus)

Abstract

We have developed a passive-type mobile robot based on the concept of the passive robotics. Different from the active-type robot with servo motors, the developed passive-type robot is controlled by using the servo brakes, in which its driving force is applied by a human operator. Therefore, the original motion characteristics of the robot with respect to the human handling force are very important for its maneuverability and it is changed by the structural design of the robot such as the arrangement of the wheels. In this paper, we investigate the original motion characteristics of the passive-type omni-directional mobile robot and discuss the equilibrium orientation of the robot and the required handling force of the human operator. Finally, we consider the appropriate arrangement of the wheels of the robot for realizing the human support system such as object handling system and the walking support system.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Pages192-197
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 18
Event2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 - Harbin, China
Duration: 2007 Aug 52007 Aug 8

Publication series

NameProceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007

Other

Other2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Country/TerritoryChina
CityHarbin
Period07/8/507/8/8

Keywords

  • Original motion characteristics
  • Passive robotics
  • Passive-type mobile robot
  • Structural design

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software
  • Control and Systems Engineering
  • Mechanical Engineering

Fingerprint

Dive into the research topics of 'Structural design for omni-directional mobile base of passive-type mobile robot'. Together they form a unique fingerprint.

Cite this