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TECHNICAL PAPERS

Omni-Directional Mobility Using Active Split Offset Castors

[+] Author and Article Information
Haoyong Yu, Matthew Spenko, Steven Dubowsky

Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139e-mail: dubowsky@mit.edu

J. Mech. Des 126(5), 822-829 (Oct 28, 2004) (8 pages) doi:10.1115/1.1767181 History: Received July 01, 2003; Revised January 01, 2004; Online October 28, 2004
Copyright © 2004 by ASME
Topics: Wheels , Design
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References

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.
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.
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.
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.
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.
Boreinstein, J., Everett, H. R., and Feng, L., 1996, Navigating Mobile Robots, AK Peters, Wellesley, Massachusetts.
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.
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.
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.
Hertz, H. 1895, Gesammelte Werke, 1 , Leigzig.
Slocum, A., 1992, Precision Machine Design, Prentice Hall, Englewood Cliffs, New Jersey.
Moore, D. F., 1975, The Friction of Pneumatic Tires, Elsevier Scientific Publishing Company, New York.
Spenko, Matthew, 2001, “Design and Analysis of the SmartWalker, a Mobility Aid for the Elderly” Master Thesis, Massachusetts Institute of Technology, Cambridge, MA.
Yu, H., 2002, “Mobility Design and Control of Personal Mobility Aids for the Elderly,” Ph.D Thesis, Massachusetts Institute of Technology, Cambridge, MA.

Figures

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The SmartWalker and its active offset split castor
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An active split offset castor with its coordinate system
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Simulation of an ASOC unit performing sideward motion
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A platform with ASOC modules
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Ground contact of ASOC modules on flat and uneven floor
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Added passive joint to the ASOC
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Workspace of the second ASOC
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Dimensions for the analysis on uneven floors
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Position of wheels and point D of the omni-directional mobility platform traversing uneven terrain
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Wheel contact patch and pressure distribution
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Twisting torque as a function of twist angle
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Dual wheel set scrubbing analysis
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Scrubbing torque of an element in the contact patch
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Scrubbing torque versus wheel distance
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Comparison between active castor and ASOC (top view)
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Scrubbing torque and power dissipation for an active castor and an active split offset castor
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Plot of a complex path executed by the SmartWalker
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Open vs. closed loop trajectory tracking

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