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Design of the Dual Offset Active Caster Wheel for Holonomic Omni-directional Mobile Robots

Authors
Chung, WoojinMoon, Chang-baeJung, ChangbaeJin, Jiyong
Issue Date
Dec-2010
Publisher
INTECH EUROPE
Keywords
Holonomic Omni-directional Robot; Mobile Robot; Active Caster Wheel
Citation
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, v.7, no.4, pp.101 - 106
Indexed
SCIE
SCOPUS
Journal Title
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
Volume
7
Number
4
Start Page
101
End Page
106
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/115150
ISSN
1729-8806
Abstract
It is shown how a holonomic and omni-directional mobile robot is designed towards indoor public services. Dual offset steerable wheels with orthogonal velocity components are proposed. The proposed wheel provides precise positioning and reliable navigation performance as well as durability. A fabricated prototype is introduced, then, an experiment is carried out.
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