Design of the dual offset active caster wheel for holonomic omni-directional mobile robots

Woojin Chung, Chang Bae Moon, Changbae Jung, Jiyong Jin

Research output: Contribution to journalArticle

18 Citations (Scopus)

Abstract

It is shown how a holonomic and omni-directional mobile robot is designed towards indoor public services. Dual offset steerable wheels with orthogonal velocity components are proposed. The proposed wheel provides precise positioning and reliable navigation performance as well as durability. A fabricated prototype is introduced, then, an experiment is carried out.

Original languageEnglish
Pages (from-to)101-106
Number of pages6
JournalInternational Journal of Advanced Robotic Systems
Volume7
Issue number4
DOIs
Publication statusPublished - 2010 Dec

Keywords

  • Active Caster Wheel
  • Holonomic Omni-directional Robot
  • Mobile Robot

ASJC Scopus subject areas

  • Software
  • Computer Science Applications
  • Artificial Intelligence

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