Development of a novel switchable omnidirectional wheel for performing cooperative tasks using differential drive mobile robots
Development of a novel switchable omnidirectional wheel for performing cooperative tasks using differential drive mobile robots
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开发一种新型可切换全向轮，用于使用差动驱动移动机器人执行协作任务
DOI：
10.1109/iros.2017.8206623
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Takahashi Takayuki
中科院分区：
文献类型：
--
作者：
Canete Luis;Takahashi Takayuki
将差动驱动机器人应用于合作系统，会给合作系统的机动性带来困难。这些困难是由差动驱动机器人通常使用的普通轮的滑动约束引起的，并且主要影响协作系统的转向能力。当协作系统穿越狭窄空间或操纵大型物体时，这可能是一个问题。相反，差动驱动机器人对于单个机器人任务来说设计和控制都很简单。为使差动驱动机器人能够参与多机器人协作系统，提出了一种能够在普通轮和全轮模式之间切换的新型轮。通过选择适当的模式，差动驱动机器人将能够在单机器人和多机器人任务无缝工作，而不会增加复杂的控制到单机器人的情况下，或降低协作系统的机动性。作为第一步，运动学建模和原型的车轮一起使用两个差动驱动机器人实施拟议的车轮测试。
Applying differential drive robots to cooperative systems introduces difficulties regarding the maneuverability of the cooperative system. These difficulties are caused by the sliding constraint of the plain wheels typically used by differential drive robots and mainly affects the turning capability of the cooperative system. This can be a problem when a cooperative system traverses narrow spaces or manipulates large objects. Conversely, differential drive robots are simple to design and control for single robot tasks. To enable differential drive robots to participate in multi-robot cooperative systems, a novel wheel capable of switching between plain and omni-wheel modes is proposed. By selecting the appropriate mode, differential drive robots would be able to work in both single and multi-robot tasks seamlessly without adding complex control to the single robot case or degrading the maneuverability of the cooperative system. As an initial step, the kinematic modeling and the prototype of the wheel is presented together with tests using two differential drive robots implemented with the proposed wheel.
开发用于差速驱动移动机器人的新型全向轮：-基本运动学建模和原型开发-
DOI：
10.1299/jsmermd.2016.2a2-07b7
发表时间：
2016
期刊：
--
影响因子：
--
作者：
Luis Canete;Takayuki Takahashi
通讯作者：
Takayuki Takahashi
DOI：
10.20965/jrm.2002.p0105
发表时间：
2002
期刊：
J. Robotics Mechatronics
影响因子：
--
作者：
K. Kawabata;Tsuyoshi Suzuki;H. Kaetsu;H. Asama
通讯作者：
H. Asama
1P2-G07 全向平行二轮麦克纳姆轮倒立摆车
DOI：
10.1299/jsmermd.2015._1p2-g07_1
发表时间：
2015
期刊：
--
影响因子：
--
作者：
Seiichi Miyakoshi
通讯作者：
Seiichi Miyakoshi