TY - GEN
T1 - Development of an omnidirectional mobile platform with a rocker-bogie suspension system
AU - Mori, Yuki
AU - Watanabe, Keigo
AU - Nagai, Isaku
PY - 2016/12/21
Y1 - 2016/12/21
N2 - 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.
AB - 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.
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U2 - 10.1109/IECON.2016.7793808
DO - 10.1109/IECON.2016.7793808
M3 - Conference contribution
AN - SCOPUS:85010029593
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 6134
EP - 6139
BT - Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
PB - IEEE Computer Society
T2 - 42nd Conference of the Industrial Electronics Society, IECON 2016
Y2 - 24 October 2016 through 27 October 2016
ER -