Omnidirectional mobile robot capable of variable footprinting based on hub-type drive module

Hyo Joong Kim, Chang Nho Cho, Hwi Su Kim, Jae-Bok Song

Research output: Contribution to journalArticle

Abstract

In recent years, an increased amount of research has been carried out on mobile robots to improve the performance of service robots. Mobile robots maximize the mobility of service robots, thus allowing them to work in different areas. However, conventional service robots have their center of mass placed high above the ground, which may cause them to fall when moving at high speed. Furthermore, hub-type actuators, which are often used for mobile robots, are large and expensive. In this study, we propose a mobile robot with a hub-type actuator unit and a variable footprint mechanism. The proposed variable footprint mechanism greatly improves the stability and mobility of the robot, allowing it to move freely in a narrow space and carry out various tasks. The performance of the proposed robot is verified experimentally.

Original languageEnglish
Pages (from-to)289-295
Number of pages7
JournalTransactions of the Korean Society of Mechanical Engineers, A
Volume36
Issue number3
DOIs
Publication statusPublished - 2012 Mar 1

Fingerprint

Mobile robots
Robots
Actuators

Keywords

  • Hub-Type driving module
  • Mobile robot
  • Mobility
  • Omni-Directional
  • Stability
  • Variable footprint mechanism

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

Omnidirectional mobile robot capable of variable footprinting based on hub-type drive module. / Kim, Hyo Joong; Cho, Chang Nho; Kim, Hwi Su; Song, Jae-Bok.

In: Transactions of the Korean Society of Mechanical Engineers, A, Vol. 36, No. 3, 01.03.2012, p. 289-295.

Research output: Contribution to journalArticle

@article{71f0224407074043bc1cdb0b942c0216,
title = "Omnidirectional mobile robot capable of variable footprinting based on hub-type drive module",
abstract = "In recent years, an increased amount of research has been carried out on mobile robots to improve the performance of service robots. Mobile robots maximize the mobility of service robots, thus allowing them to work in different areas. However, conventional service robots have their center of mass placed high above the ground, which may cause them to fall when moving at high speed. Furthermore, hub-type actuators, which are often used for mobile robots, are large and expensive. In this study, we propose a mobile robot with a hub-type actuator unit and a variable footprint mechanism. The proposed variable footprint mechanism greatly improves the stability and mobility of the robot, allowing it to move freely in a narrow space and carry out various tasks. The performance of the proposed robot is verified experimentally.",
keywords = "Hub-Type driving module, Mobile robot, Mobility, Omni-Directional, Stability, Variable footprint mechanism",
author = "Kim, {Hyo Joong} and Cho, {Chang Nho} and Kim, {Hwi Su} and Jae-Bok Song",
year = "2012",
month = "3",
day = "1",
doi = "10.3795/KSME-A.2012.36.3.289",
language = "English",
volume = "36",
pages = "289--295",
journal = "Transactions of the Korean Society of Mechanical Engineers, A",
issn = "1226-4873",
publisher = "Korean Society of Mechanical Engineers",
number = "3",

}

TY - JOUR

T1 - Omnidirectional mobile robot capable of variable footprinting based on hub-type drive module

AU - Kim, Hyo Joong

AU - Cho, Chang Nho

AU - Kim, Hwi Su

AU - Song, Jae-Bok

PY - 2012/3/1

Y1 - 2012/3/1

N2 - In recent years, an increased amount of research has been carried out on mobile robots to improve the performance of service robots. Mobile robots maximize the mobility of service robots, thus allowing them to work in different areas. However, conventional service robots have their center of mass placed high above the ground, which may cause them to fall when moving at high speed. Furthermore, hub-type actuators, which are often used for mobile robots, are large and expensive. In this study, we propose a mobile robot with a hub-type actuator unit and a variable footprint mechanism. The proposed variable footprint mechanism greatly improves the stability and mobility of the robot, allowing it to move freely in a narrow space and carry out various tasks. The performance of the proposed robot is verified experimentally.

AB - In recent years, an increased amount of research has been carried out on mobile robots to improve the performance of service robots. Mobile robots maximize the mobility of service robots, thus allowing them to work in different areas. However, conventional service robots have their center of mass placed high above the ground, which may cause them to fall when moving at high speed. Furthermore, hub-type actuators, which are often used for mobile robots, are large and expensive. In this study, we propose a mobile robot with a hub-type actuator unit and a variable footprint mechanism. The proposed variable footprint mechanism greatly improves the stability and mobility of the robot, allowing it to move freely in a narrow space and carry out various tasks. The performance of the proposed robot is verified experimentally.

KW - Hub-Type driving module

KW - Mobile robot

KW - Mobility

KW - Omni-Directional

KW - Stability

KW - Variable footprint mechanism

UR - http://www.scopus.com/inward/record.url?scp=84859203833&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84859203833&partnerID=8YFLogxK

U2 - 10.3795/KSME-A.2012.36.3.289

DO - 10.3795/KSME-A.2012.36.3.289

M3 - Article

AN - SCOPUS:84859203833

VL - 36

SP - 289

EP - 295

JO - Transactions of the Korean Society of Mechanical Engineers, A

JF - Transactions of the Korean Society of Mechanical Engineers, A

SN - 1226-4873

IS - 3

ER -