• Journal of the Korean Society for Precision Engineering
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• v.15 no.3
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• pp.11-17
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• 1998

The mecanum wheel was originaly developed in sweden to realize the omni-directional motion of the cart. The circumference of each wheel is lined with rollers set at 45 degrees relative to the main wheel. This paper proves that the roller of the mecanum wheel shapes the ellipsoid, derives the kinematic relationships between the parameters of the wheel and rollers, and proposes the procedure to determine the parameters of the wheel. The result was implemented into the computer program for the design of the mecanum wheel.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1722-1723
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• 2007

This paper describes a simple method to reduce rotation angle error of mobile robot using omni-wheel[3](omni-bot). This method can be applied to not only omni-bot, but also other robot with a large number of servo motor. Robot using many servo motor as omni-bot is complicated for hardware and software, each servo motor has difficulty in synchronizing. Three servo motor, three omni-wheel and three serial servo motor controller is used, PC or Micro Processor interface with the serial servo controller through "SSC100" protocol. In order to check the improvement of the proposed serial servo synchronization compared to existing sequential communication method. comparing object is rotation angle error of omni-bot. The results of this make building of omni-bot system easy and decrease rotation angle error.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.338-344
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• 2008

Most omni-directional mobile robots have to change their trajectory for avoiding obstacles regardless of the size of the obstacles. However, an omni-directional mobile robot having kinematic redundancy can maintain the trajectory while the robot avoids small obstacles. This works deals with the kinematic modeling and motion planning of an omni-directional mobile robot with kinematic redundancy. This robot consists of three wheel mechanisms. Each wheel mechanism is modeled as having four joints, while only three joints are necessary for creating the omni-directional motion. Thus, each chain has one kinematic redundancy. Two types of wheel mechanisms are compared and its kinematic modeling is introduced. Finally, several motion planning algorithms using the kinematic redundancy are investigated. The usefulness of this robot is shown through experiment.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.333-334
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• 2012

• Journal of the Korean Society for Precision Engineering
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• v.30 no.11
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• pp.1161-1169
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• 2013

In this paper an omni-directional mobile robot is suggested for educational robot platform. Comparing to other robots, a mobile robot can be easily designed and manufactured due to its simple geometric structure. Moreover, since it is required to have low DOF motion on planar space, fabrication of control system is also simple. In this research, omni-directional wheels were adopted to remove the non-holonomic characteristic of conventional wheels and facilitate control system design. Firstly, geometric structure of a Mecanum wheel which is a most frequently used omni-directional wheel was demonstrated. Then, the organization of the mobile platform was suggested in aspects of mechanism manufacturing and electronic hardware design. Finally, a methodology of control system development was introduced for educational purpose. Due to an intuitive motion generating ability, simple hardware composition, and convenient control algorithm applicability, the omni-directional mobile robot suggested in this research is expected to be a promising educational platform.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1053-1061
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• 2008

In this paper, a moving target tracking using a binocular vision for an omni-directional mobile robot is addressed. In the binocular vision, three dimensional information on the target is extracted by vision processes including calibration, image correspondence, and 3D reconstruction. The robot controller is constituted with SPI(serial peripheral interface) to communicate effectively between robot master controller and wheel controllers.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.137.4-137
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• 2001

Omni-directional mobile robots have been employed popularly in several application areas. However, the optimal design has not been considered yet. This paper introduces an optimal design methodology for omni-directional mobile robots. Optimal design parameters such as the offset distance and the wheel radius are identified with respect to isotropy. Furthermore, the force transmission ratio and actuator sizing problem are treated. Conclusivel, three cases are compared minimum actuation, two active caster wheel, and three active caster wheel, we claim that the redundantly actuated mobile robot with three active caster wheel has the best performance.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.63-64
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• 2013

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.3
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• pp.440-447
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• 2018

Double parking is very common in a parking lot where there is not sufficient parking space. When we double-park a car, we leave transmission gear in neutral position and release the emergency brake so that the double-parked car can be moved just by pushing it. However, moving a double-parked car by pushing is very hard and dangerous especially for the old and the weak. So, we propose an omni-directional mobile robot for moving a double-parked car easily and safely. The developed omni-directional mobile robot moves a double-parked car by rotating a wheel of a double-parked car. It has two specially designed rollers to rotate a wheel of a double-parked car and is designed so that the height of the robot is very low to be able to enter beneath a double-parked car. It can move a double-parked car safely by detecting obstacles in the way with five ultrasonic sensors. We verified by several experiments that the developed omni-directional mobile robot can be used to move a double-parked car easily and safely.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.6 no.1
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• pp.17-27
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• 2012

This study provides development information on Omni-Wheel Drive Rider Robot, futuristic electric scooters, with autonomous driving systems that are used for people including the disabled and senior. Also, it is meaningful in suggesting alternatives to replace motorized wheelchairs or electric scooters for the future. Prior to development of Omni-Wheel Drive Rider Robot with autonomous driving systems, it surveyed 49 people, including 18 people who own electric scooters and 31 senior people who have not. The summary of the survey is as follows. First, inconveniences during riding and exiting and short mileage due and safety driving to problems of recharging batteries are the most urgent task. For these problems, the study shows that charging time of batteries, mileage, armrests, footrests, angle of a seat are the primary considerations. Second, drivers prefer joystick over steering wheels because of convenience in one-handed driving against dangers from footrest and carriageways sloping roads, paving blocks. One-handed driving can reduce driving fatigues with automatic stop systems. Moreover, the study suggests many design factors related to navigation systems, obstacle avoidance systems, omni-wheels, automatic cover-opening systems in rainy.