OTHER
Development of a Holonomic Omni-Directional Mobile Robot with Step-Climbing Ability
Atsushi Yamashita, Tatsuya Kanazawa, Hajime Asama, Hayato Kaetsu, Isao Endo, Tamio Arai, Kazumi Sato
- Year
- 2001
- Citations
- 3
Abstract
In this paper, we purpose a new holonomic omnidirectional mobile robot that can pass over steps and rough terrain. A prototype of the omnidirectional mobile robot has seven wheels with free rollers. We adopt a passive suspension for the robot to climb slopes and to pass over steps without actuators and sensors for climbing and analyzed the kinematics of the omnidirectional robot. The performance of the prototype robot is shown through experiments.
Keywords
HolonomicMobile robotClimbOmnidirectional antennaRobotComputer scienceKinematicsRobot kinematicsRobot controlRobot locomotion
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