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SO(2) and SO(3), omni-directional personal mobility with link-driven spherical wheels | IEEE Conference Publication | IEEE Xplore

SO(2) and SO(3), omni-directional personal mobility with link-driven spherical wheels


Abstract:

There are many researches about mobile robot with a varied wheel. Mobile robots or mobilities with wheels such like a car or bike have non-holonomic constraint and then i...Show More

Abstract:

There are many researches about mobile robot with a varied wheel. Mobile robots or mobilities with wheels such like a car or bike have non-holonomic constraint and then it is difficult to move toward wheel's axis direction. Namely, it is impossible to move toward omni-direction due to the constraints by wheel's mechanical structure. Omni-directional movement means the mobility can move toward any direction at anytime. This paper adapted link-driven spherical wheel as an omnidirectional wheel and solved singularity problem caused by mechanical structure of it. We developed omni-directional mobilities( SO(2) and SO(3)) installing link-driven spherical wheels and experimented omni-directional movement with designed controllers.
Date of Conference: 25-30 September 2011
Date Added to IEEE Xplore: 05 December 2011
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ISSN Information:

Conference Location: San Francisco, CA, USA

References

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