著者

淺間 一 佐藤 雅俊 嘉悦 早人 尾崎 功一 松元 明弘 遠藤 勲

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.14, no.2, pp.249-254, 1996-03-15 (Released:2010-08-10)

参考文献数

9

被引用文献数

11 33

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A new driving mechanism for holonomic omni-directional mobile robots is designed, which enables 3 DoF (degrees of freedom) motion control in two dimensional space by three correspondent actuators in a decoupled manner without redundancy. The kinematics of the omni-directional mobile robot is also analyzed to prove that driving motion by the actuators is decoupled by the developed mechanism into 3 DoF motion of the robot. A prototype of the omni-directional mobile robot with the driving mechanism is developed including a parallel link suspension mechanism. Finally, the performance of the prototype robot is shown through experimental results, by which the working of the designed mechanism is verified.

著者

淺間 一 佐藤 雅俊 後藤 伸之 嘉悦 早人 松元 明弘 遠藤 勲

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.15, no.7, pp.1043-1049, 1997-10-15 (Released:2010-08-25)

参考文献数

16

被引用文献数

5 6

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A new type of cooperation called mutual handling is introduced in this paper, which enables a multi-robot system to achieve an advanced functionality that cannot be realized by a single robot, and as an application of mutual handling, a method of cooperative transportation for two autonomous mobile robots to climb over a large step by operating each forklifts cooperatively is proposed, which cannot be overcome by a single robot. Then, a forklift mechanism for mutual handling is designed, and two autonomous mobile robots equipped with the forklifts are developed. Finally, a cooperative transportation method in which two autonomous mobile robots are controlled based on communication is presented, and the step-climbing motion by cooperative transportation is proved feasible by showing the experimental results using the developed omni-directional mobile robots.