Tetrahedral mobile robot with novel ball shape wheel

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

19 Citations (Scopus)

Abstract

In this paper, a mobile robot with a tetrahedral shape for its basic structure is presented as a thrown robot for search and rescue robot application. The Tetrahedral Mobile Robot has its body in the center of the whole structure. The driving parts that produce the propelling force are located at each corner. As a driving wheel mechanism, we have developed the "Omni-Ball" with one active and two passive rotational axes, which is explained in detail. An actual prototype model has been developed to illustrate the concept and to perform preliminary motion experiments, through which the basic performance of the Tetrahedral Mobile Robot was confirmed.

Original languageEnglish
Title of host publicationProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Pages946-952
Number of pages7
DOIs
Publication statusPublished - 2006 Dec 22
Externally publishedYes
Event1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy
Duration: 2006 Feb 202006 Feb 22

Publication series

NameProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Volume2006

Other

Other1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Country/TerritoryItaly
CityPisa
Period06/2/2006/2/22

Keywords

  • Omni-ball
  • Omni-directional wheel
  • Tetrahedral shape
  • Thrown motion

ASJC Scopus subject areas

  • Engineering(all)

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