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ICRA
2002
IEEE

Analysis and Design of an Omnidirectional Platform for Operation on Non-Ideal Floors

9 years 4 months ago
Analysis and Design of an Omnidirectional Platform for Operation on Non-Ideal Floors
An omnidirectional platform with an Active Offset Split Caster (ASOC) is described and its ability to operate on non-ideal floors is studied. It is shown that all of its driven wheels of the platform will remain in contact with an uneven floor at all times, a condition necessary to maintain good traction and dead-reckoning capabilities. It is shown that planning algorithms developed for an ideally flat floor perform adequately for a realistic uneven floor. Furthermore, it is shown that the ASOC design consumes less power than other conventional wheel omnidirectional designs and is more suitable to heavier loads. Analytical and experimental results are presented.
Matthew Spenko, Haoyong Yu, Steven Dubowsky
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Matthew Spenko, Haoyong Yu, Steven Dubowsky
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