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- Publisher Website: 10.1109/IROS.2011.6048373
- Scopus: eid_2-s2.0-84455175415
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Conference Paper: Development of passive type double wheel caster unit based on analysis of feasible braking force and moment set
Title | Development of passive type double wheel caster unit based on analysis of feasible braking force and moment set |
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Authors | |
Issue Date | 2011 |
Citation | IEEE International Conference on Intelligent Robots and Systems, 2011, p. 311-317 How to Cite? |
Abstract | We introduce passive mobile robots consisting of various wheels; omnidirectional wheels or one-wheel casters, which are controlled by servo brakes. These robots can realize several functions, such as path tracking, gravity compensation on a slope, and collision avoidance function, by controlling only the servo brakes. They employ passive dynamics with respect to the force applied by a human. In this paper, we derive and analyze a feasible braking force/moment that is necessary for controlling the robot with servo brakes. We reveal the advantages and disadvantages of the feasible braking force/moment of each robot developed by us. In addition, we propose a new passive type double wheel caster unit, called PDC, on the basis of the analysis. We develop a prototype PDC called PDC-P1. Finally, we handle a long object by two PDC-P1s actually, and realize the path tracking function as example to confirm its validity. © 2011 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/302878 |
DC Field | Value | Language |
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dc.contributor.author | Saida, Masao | - |
dc.contributor.author | Hirata, Yasuhisa | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:42:45Z | - |
dc.date.available | 2021-09-07T08:42:45Z | - |
dc.date.issued | 2011 | - |
dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems, 2011, p. 311-317 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302878 | - |
dc.description.abstract | We introduce passive mobile robots consisting of various wheels; omnidirectional wheels or one-wheel casters, which are controlled by servo brakes. These robots can realize several functions, such as path tracking, gravity compensation on a slope, and collision avoidance function, by controlling only the servo brakes. They employ passive dynamics with respect to the force applied by a human. In this paper, we derive and analyze a feasible braking force/moment that is necessary for controlling the robot with servo brakes. We reveal the advantages and disadvantages of the feasible braking force/moment of each robot developed by us. In addition, we propose a new passive type double wheel caster unit, called PDC, on the basis of the analysis. We develop a prototype PDC called PDC-P1. Finally, we handle a long object by two PDC-P1s actually, and realize the path tracking function as example to confirm its validity. © 2011 IEEE. | - |
dc.language | eng | - |
dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems | - |
dc.title | Development of passive type double wheel caster unit based on analysis of feasible braking force and moment set | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/IROS.2011.6048373 | - |
dc.identifier.scopus | eid_2-s2.0-84455175415 | - |
dc.identifier.spage | 311 | - |
dc.identifier.epage | 317 | - |