The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Design and Control of the Active Split Offset Caster based Omni-directional Vehicle

능동 분할 오프셋 캐스터 기반 전방향 차량의 설계 및 제어

  • Kim, Han-Gyeol (Mechanical Engineering Department and Human-Robot Interaction Research Center, KAIST) ;
  • Huan, Do Ngoc (Mechanical Engineering Department and Undergraduate Research Program at HRI Research Center, KAIST) ;
  • Park, Jong-Chan (Mechanical Engineering Department and Human-Robot Interaction Research Center, KAIST) ;
  • Kwon, Dong-Soo (Mechanical Engineering Department and Human-Robot Interaction Research Center, KAIST)
  • Received : 2012.09.14
  • Accepted : 2013.01.24
  • Published : 2013.05.31
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Abstract

This research would investigate deeply the operation of an omni-directional mobile robot that is able to move with high acceleration. For the high acceleration performance, the vehicle utilizes the structure of Active Split Offset Casters (ASOCs). This paper is mainly focused on inverse kinematics of the structure, hardware design to secure durability and preserve the wheels' contact to the ground during high acceleration, and localization for the real time position control.

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References

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