Design of a four-wheeled omnidirectional mobile robot with variable wheel arrangement mechanism

Kyung Seok Byun, Sung Jae Kim, Jae-Bok Song

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

33 Citations (Scopus)

Abstract

An omnidirectional mobile robot equipped with four independent omnidirectional wheels can perform 3 DOF motion and has one redundant DOF. This redundancy can be used to drive the mechanism enabling the wheel arrangement to vary, which can function as a continuously - variable transmission (CVT). In this research, a special mechanism called a variable wheel arrangement mechanism is proposed to increase the range of velocity ratio for the CVT from the wheel velocities to robot velocity, which may improve performance of the mobile robot. The mobile robot with this mechanism was constructed and various tests have been conducted to demonstrate the validity and feasibility of the proposed mechanism.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages720-725
Number of pages6
Volume1
Publication statusPublished - 2002
Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
Duration: 2002 May 112002 May 15

Other

Other2002 IEEE International Conference on Robotics and Automation
CountryUnited States
CityWashington, DC
Period02/5/1102/5/15

Fingerprint

Mobile robots
Wheels
Redundancy
Robots

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Byun, K. S., Kim, S. J., & Song, J-B. (2002). Design of a four-wheeled omnidirectional mobile robot with variable wheel arrangement mechanism. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 720-725)

Design of a four-wheeled omnidirectional mobile robot with variable wheel arrangement mechanism. / Byun, Kyung Seok; Kim, Sung Jae; Song, Jae-Bok.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 2002. p. 720-725.

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

Byun, KS, Kim, SJ & Song, J-B 2002, Design of a four-wheeled omnidirectional mobile robot with variable wheel arrangement mechanism. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 1, pp. 720-725, 2002 IEEE International Conference on Robotics and Automation, Washington, DC, United States, 02/5/11.
Byun KS, Kim SJ, Song J-B. Design of a four-wheeled omnidirectional mobile robot with variable wheel arrangement mechanism. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1. 2002. p. 720-725
Byun, Kyung Seok ; Kim, Sung Jae ; Song, Jae-Bok. / Design of a four-wheeled omnidirectional mobile robot with variable wheel arrangement mechanism. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 2002. pp. 720-725
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