Tetrahedral Mobile Robot with Spherical Omnidirectional Wheel

Kenjiro Tadakuma; Riichiro Tadakuma; Jose Berengueres

doi:10.20965/jrm.2008.p0125

Tetrahedral Mobile Robot with Spherical Omnidirectional Wheel

Kenjiro Tadakuma, Riichiro Tadakuma, Jose Berengueres

Department of Computer Science and Software Engineering

Research output: Contribution to journal › Article › peer-review

7 Citations (Scopus)

Abstract

In this paper, a mobile robot with a tetrahedral shape for its basic structure is presented as a thrown robot for search and rescue robot application. The Tetrahedral Mobile Robot has its body in the center of the whole structure. The driving parts that produce the propelling force are located at each corner. As a driving wheel mechanism, we have developed the “Omni-Ball” with one active and two passive rotational axes, which is explained in detail. An actual prototype model has been developed to illustrate the concept and to perform preliminary motion experiments, through which the basic performance of the Tetrahedral Mobile Robot was confirmed.

Original language	English
Pages (from-to)	125-134
Number of pages	10
Journal	Journal of Robotics and Mechatronics
Volume	20
Issue number	1
DOIs	https://doi.org/10.20965/jrm.2008.p0125
Publication status	Published - Feb 2008

Keywords

Omni-Ball
omnidirectional movement
step climbing
tetrahedral shape
throwable robot

ASJC Scopus subject areas

Computer Science(all)
Electrical and Electronic Engineering

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10.20965/jrm.2008.p0125

Cite this

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title = "Tetrahedral Mobile Robot with Spherical Omnidirectional Wheel",

abstract = "In this paper, a mobile robot with a tetrahedral shape for its basic structure is presented as a thrown robot for search and rescue robot application. The Tetrahedral Mobile Robot has its body in the center of the whole structure. The driving parts that produce the propelling force are located at each corner. As a driving wheel mechanism, we have developed the “Omni-Ball” with one active and two passive rotational axes, which is explained in detail. An actual prototype model has been developed to illustrate the concept and to perform preliminary motion experiments, through which the basic performance of the Tetrahedral Mobile Robot was confirmed.",

keywords = "Omni-Ball, omnidirectional movement, step climbing, tetrahedral shape, throwable robot",

author = "Kenjiro Tadakuma and Riichiro Tadakuma and Jose Berengueres",

note = "Funding Information: The authors would like to thank Prof. Shigeo Hirose for his contribution and abundant advice. And we would like to thank the staff of Ono-denki Corp. for their contribution. And finally, the authors would like to thank the Venture Business Laboratory for the funding of the Omnidirectional Vehicle with ”Omni-Ball” Project at the Tokyo Institute of Technology. Publisher Copyright: {\textcopyright} Fuji Technology Press Ltd.",

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doi = "10.20965/jrm.2008.p0125",

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AU - Tadakuma, Riichiro

AU - Berengueres, Jose

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PY - 2008/2

Y1 - 2008/2

N2 - In this paper, a mobile robot with a tetrahedral shape for its basic structure is presented as a thrown robot for search and rescue robot application. The Tetrahedral Mobile Robot has its body in the center of the whole structure. The driving parts that produce the propelling force are located at each corner. As a driving wheel mechanism, we have developed the “Omni-Ball” with one active and two passive rotational axes, which is explained in detail. An actual prototype model has been developed to illustrate the concept and to perform preliminary motion experiments, through which the basic performance of the Tetrahedral Mobile Robot was confirmed.

AB - In this paper, a mobile robot with a tetrahedral shape for its basic structure is presented as a thrown robot for search and rescue robot application. The Tetrahedral Mobile Robot has its body in the center of the whole structure. The driving parts that produce the propelling force are located at each corner. As a driving wheel mechanism, we have developed the “Omni-Ball” with one active and two passive rotational axes, which is explained in detail. An actual prototype model has been developed to illustrate the concept and to perform preliminary motion experiments, through which the basic performance of the Tetrahedral Mobile Robot was confirmed.

KW - Omni-Ball

KW - omnidirectional movement

KW - step climbing

KW - tetrahedral shape

KW - throwable robot

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Tetrahedral Mobile Robot with Spherical Omnidirectional Wheel

Abstract

Keywords

ASJC Scopus subject areas

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