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

Yasuhisa Hirata, Hamin Song, Zhidong Wang, Kazuhiro Kosuge

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
ページ192-197
ページ数6
DOI
出版ステータスPublished - 2007 12 18
イベント2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 - Harbin, China
継続期間: 2007 8 52007 8 8

出版物シリーズ

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

Other

Other2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
国/地域China
CityHarbin
Period07/8/507/8/8

ASJC Scopus subject areas

  • 人工知能
  • ソフトウェア
  • 制御およびシステム工学
  • 機械工学

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