Development of an omnidirectional mobile platform with a rocker-bogie suspension system

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In connection with the super-aging society, there exists a growing interest in omnidirectional powered-wheelchairs that have superior mobility in a narrow space. An omnidirectional mobile robot composed of active dual-wheel caster assemblies can use general wheels such as rubber tires, so that it is easily applied to a powered wheelchair. This study is aimed at developing an omnidirectional mobile platform using active dualwheel caster assemblies in consideration of the run in a public road. An omnidirectional mobile platform using a rocker-bogie suspension system is proposed to improve the running ability, and several active dual-wheel caster modules are produced so as to be used in such a platform. In this paper, we give an overview of the active dual-wheel caster assemblies and the proposed robot, and describe the process of actual production of such modules and the associated experimental results.

Original languageEnglish
Title of host publicationProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
PublisherIEEE Computer Society
Pages6134-6139
Number of pages6
ISBN (Electronic)9781509034741
DOIs
Publication statusPublished - Dec 21 2016
Event42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
Duration: Oct 24 2016Oct 27 2016

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other42nd Conference of the Industrial Electronics Society, IECON 2016
CountryItaly
CityFlorence
Period10/24/1610/27/16

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Mori, Y., Watanabe, K., & Nagai, I. (2016). Development of an omnidirectional mobile platform with a rocker-bogie suspension system. In Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society (pp. 6134-6139). [7793808] (IECON Proceedings (Industrial Electronics Conference)). IEEE Computer Society. https://doi.org/10.1109/IECON.2016.7793808