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

Yuki Mori; Keigo Watanabe; Isaku Nagai

doi:10.1109/IECON.2016.7793808

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

Yuki Mori, Keigo Watanabe, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
Publisher	IEEE Computer Society
Pages	6134-6139
Number of pages	6
ISBN (Electronic)	9781509034741
DOIs	https://doi.org/10.1109/IECON.2016.7793808
Publication status	Published - Dec 21 2016
Event	42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy Duration: Oct 24 2016 → Oct 27 2016

Publication series

Name	IECON Proceedings (Industrial Electronics Conference)

Other

Other	42nd Conference of the Industrial Electronics Society, IECON 2016
Country	Italy
City	Florence
Period	10/24/16 → 10/27/16

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2016.7793808

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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

Development of an omnidirectional mobile platform with a rocker-bogie suspension system. / Mori, Yuki; Watanabe, Keigo ; Nagai, Isaku.

Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society. IEEE Computer Society, 2016. p. 6134-6139 7793808 (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 7793808, IECON Proceedings (Industrial Electronics Conference), IEEE Computer Society, pp. 6134-6139, 42nd Conference of the Industrial Electronics Society, IECON 2016, Florence, Italy, 10/24/16. https://doi.org/10.1109/IECON.2016.7793808

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