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

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 fabric...

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Bibliographic Details
Published in:International journal of advanced robotic systems 2010-12, Vol.7 (4)
Main Authors: Chung, Woojin, Moon, Chang-bae, Jung, Changbae, Jin, Jiyong
Format: Article
Language:English
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Summary: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.
ISSN:1729-8806
1729-8814
DOI:10.5772/10485