Omni-directional mobility using active split offset castors

Journal of Mechanical Design

Volumn 126, Issue 5, 2004, Pages 822-829

  Yu, Haoyong ^a   Spenko, Matthew ^a   Dubowsky, Steven ^a  

^a Massachusetts Institute of Technology   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

KINEMATICS; MACHINE DESIGN; MATRIX ALGEBRA; WALKING AIDS;

ACTIVE SPLIT OFFSET CASTORS; JACOBIAN MATRIX;

MECHANISMS;

EID: 10244234038     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.1767181     Document Type: Article

References (14)

1. West, M., and Asada, H., 1997, "Design of Ball Wheel Mechanisms for Omnidirectional Vehicles with Full Mobility and Invariant Kinematics," ASME J. Mech. Des., 119(2), pp. 153-161.
2. Fujisawa, S., Ohkubo, K., Yoshida, T., Satonaka, N., Shidama, Y., and Yamaura, H., 1997, "Improved Moving Properties of an Omnidirectional Vehicle Using Stepping Motor," Proc. of the 36th Conference on Decision & Control, pp. 3654-3657.
3. Ferriere, L., and Raucent, B., 1998, "ROLLMOBS, a New Universal Wheel Concept," Proc. of the IEEE International Conference on Robotics and Automation, 3, pp. 1877-1882.
4. Muir, P., and Neuman, C. P., 1987, "Kinematic Modeling for Feedback Control of an Omnidirectional Wheeled Mobile Robot," Proc. of IEEE International Conference on Robotics and Automation, 4, pp. 1772-1778.
5. Killough, S. M., and Pin, F. G., 1994, "A New Family of Omnidirectional and Holonomic Wheeled Platforms for Mobile Robots," IEEE Trans. Rob. Autom., 10(4), pp. 480-489.
6. Boreinstein, J., Everett, H. R., and Feng, L., 1996, Navigating Mobile Robots, AK Peters, Wellesley, Massachusetts.
7. Wada, M., and Mori, S., 1996, "Holonomic and Omnidirectional Vehicle with Conventional Tires," Proc. of the IEEE International Conference on Robotics and Automation, 4, pp. 3671-3676.
8. Holmberg, R., and Khatib O., 1999, "Development of a Holonomic Mobile Robot for Mobile Manipulation Tasks," Proc. of the Conference on Field and Service Robotics, pp. 268-273.
9. Dubowsky, S., Genot, F., Godding, S., Kozono, H., Skwersky, A., Yu, L., and Yu, H., 2000, "PAMM - A Robotic Aid to the Elderly for Mobility Assistance and Monitoring: A Helping-Hand for the Elderly," Proc. of the IEEE International Conference on Robotics and Automation, 1 pp. 570-576.
10. Hertz, H. 1895, Gesammelte Werke, 1, Leigzig.
11. Slocum, A., 1992, Precision Machine Design, Prentice Hall, Englewood Cliffs, New Jersey.
12. Moore, D. F., 1975, The Friction of Pneumatic Tires, Elsevier Scientific Publishing Company, New York.
13. Spenko, Matthew, 2001, "Design and Analysis of the SmartWalker, a Mobility Aid for the Elderly" Master Thesis, Massachusetts Institute of Technology, Cambridge, MA.
14. Yu, H., 2002, "Mobility Design and Control of Personal Mobility Aids for the Elderly," Ph.D Thesis, Massachusetts Institute of Technology, Cambridge, MA.