A new family of omnidirectional and holonomic wheeled platforms for mobile robots

Journal Article · Mon Aug 01 00:00:00 EDT 1994 · IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States)

DOI:https://doi.org/10.1109/70.313098· OSTI ID:6986509

Pin, F G; Killough, S M ^[1]

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1. Oak Ridge National Lab., TN (United States)

This paper presents the concepts for a new family of holonomic wheeled platforms that feature full omnidirectionality with simultaneous and independently controlled rotational and translational motion capabilities. The authors first present the orthogonal-wheels'' concept and the two major wheel assemblies on which these platforms are based. The authors then describe how a combination of these assemblies with appropriate control can be used to generate an omnidirectional capability for mobile robot platforms. Several alternative designs are considered, and their respective characteristics with respect to rotational and translational motion control are discussed. The design and control of a prototype platform developed to test and demonstrate the proposed concepts is then described, and experimental results illustrating the full omnidirectionality of the platforms with decoupled rotational and translational degrees of freedom are presented.

• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6986509
• Journal Information: IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States), Vol. 10:4; ISSN 1042-296X
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
ROBOTS
MOTION
WHEELS
MOBILITY
VEHICLES
420200* - Engineering- Facilities
Equipment
& Techniques