TY - GEN
T1 - Structural design for omni-directional mobile base of passive-type mobile robot
AU - Hirata, Yasuhisa
AU - Song, Hamin
AU - Wang, Zhidong
AU - Kosuge, Kazuhiro
N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].
PY - 2007
Y1 - 2007
N2 - 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. © 2007 IEEE.
AB - 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. © 2007 IEEE.
KW - Original motion characteristics
KW - Passive robotics
KW - Passive-type mobile robot
KW - Structural design
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UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-37049019269&origin=recordpage
U2 - 10.1109/ICMA.2007.4303539
DO - 10.1109/ICMA.2007.4303539
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 1424408288
SN - 9781424408283
T3 - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
SP - 192
EP - 197
BT - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
T2 - 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Y2 - 5 August 2007 through 8 August 2007
ER -