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http://dx.doi.org/10.7746/jkros.2013.8.2.075

Design and Control of the Active Split Offset Caster based Omni-directional Vehicle  

Kim, Han-Gyeol (Mechanical Engineering Department and Human-Robot Interaction Research Center, KAIST)
Huan, Do Ngoc (Mechanical Engineering Department and Undergraduate Research Program at HRI Research Center, KAIST)
Park, Jong-Chan (Mechanical Engineering Department and Human-Robot Interaction Research Center, KAIST)
Kwon, Dong-Soo (Mechanical Engineering Department and Human-Robot Interaction Research Center, KAIST)
Publication Information
The Journal of Korea Robotics Society / v.8, no.2, 2013 , pp. 75-81 More about this Journal
Abstract
This research would investigate deeply the operation of an omni-directional mobile robot that is able to move with high acceleration. For the high acceleration performance, the vehicle utilizes the structure of Active Split Offset Casters (ASOCs). This paper is mainly focused on inverse kinematics of the structure, hardware design to secure durability and preserve the wheels' contact to the ground during high acceleration, and localization for the real time position control.
Keywords
Active Split Offset Caster; Omni-directional Vehicle; Position Control;
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