FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2098039291> ?p ?o ?g. }

• W2098039291 abstract "Applications of wheeled mobile robots have recently extended to service robots for the handicapped or the aged and industrial mobile robots working in various environments. The most popular wheeled mobile robots are equipped with two independent driving wheels. Since these robots possess 2 degrees-of-freedom (DOFs), they can rotate about any point, but cannot perform holonomic motion including sideways motion. To overcome this type of motion limitation, omnidirectional mobile robots (OMRs) were proposed. They can move in an arbitrary direction without changing the direction of the wheels, because they can achieve 3 DOF motion on a 2-dimensional plane. Various types of omnidirectional mobile robots have been proposed so far; universal wheels (Blumrich, 1974) (Ilou, 1975), ball wheels (West & Asada, 1997), off-centered wheels (Wada & Mory, 1996) are popular among them. The omnidirectional mobile robots using omnidirectional wheels composed of passive rollers or balls usually have 3 or 4 wheels. The three-wheeled omnidirectional mobile robots are capable of achieving 3 DOF motions by driving 3 independent actuators (Carlisle, 1983) (Pin & Killough, 1999), but they may have stability problem due to the triangular contact area with the ground, especially when traveling on a ramp with the high center of gravity owing to the payload they carry. It is desirable, therefore, that four-wheeled vehicles be used when stability is of great concern (Muir & Neuman, 1987). However, independent drive of four wheels creates one extra DOF. To cope with such a redundancy problem, the mechanism capable of driving four omnidirectional wheels using three actuators was suggested (Asama et al., 1995). Another approach to a redundant DOF is to devise some mechanism which uses this redundancy to change wheel arrangements (Wada & Asada, 1999) (Tahboub & Asada, 2000). It is called a variable footprint mechanism (VFM). Since the relationship between the robot velocity and the wheel velocities depends on wheel arrangement, varying wheel arrangement can function as a transmission. Furthermore, it can be considered as a continuously-variable transmission (CVT), because the robot velocity can change continuously by adjustment of wheel arrangements without employing a gear train. The CVT is useful to most mobile robots which have electric motors as actuators and a battery as a power source. Energy efficiency is of great importance in mobile robots because it is directly related to the operating time without" @default.
• W2098039291 created "2016-06-24" @default.
• W2098039291 creator A5004961143 @default.
• W2098039291 creator A5086972318 @default.
• W2098039291 date "2006-12-01" @default.
• W2098039291 modified "2023-10-03" @default.
• W2098039291 title "Design and Control of an Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels" @default.
• W2098039291 cites W2002282487 @default.
• W2098039291 cites W2046387417 @default.
• W2098039291 cites W2054130451 @default.
• W2098039291 cites W2079766748 @default.
• W2098039291 cites W2093275327 @default.
• W2098039291 cites W2095936905 @default.
• W2098039291 cites W2120135120 @default.
• W2098039291 cites W2146172272 @default.
• W2098039291 cites W2149012351 @default.
• W2098039291 cites W2168108948 @default.
• W2098039291 cites W2239591671 @default.
• W2098039291 cites W2243340747 @default.
• W2098039291 doi "https://doi.org/10.5772/4723" @default.
• W2098039291 hasPublicationYear "2006" @default.
• W2098039291 type Work @default.
• W2098039291 sameAs 2098039291 @default.
• W2098039291 citedByCount "8" @default.
• W2098039291 countsByYear W20980392912013 @default.
• W2098039291 countsByYear W20980392912015 @default.
• W2098039291 countsByYear W20980392912017 @default.
• W2098039291 countsByYear W20980392912019 @default.
• W2098039291 countsByYear W20980392912021 @default.
• W2098039291 crossrefType "book-chapter" @default.
• W2098039291 hasAuthorship W2098039291A5004961143 @default.
• W2098039291 hasAuthorship W2098039291A5086972318 @default.
• W2098039291 hasBestOaLocation W20980392911 @default.
• W2098039291 hasConcept C154945302 @default.
• W2098039291 hasConcept C19966478 @default.
• W2098039291 hasConcept C21822782 @default.
• W2098039291 hasConcept C24027999 @default.
• W2098039291 hasConcept C2775924081 @default.
• W2098039291 hasConcept C31972630 @default.
• W2098039291 hasConcept C41008148 @default.
• W2098039291 hasConcept C76155785 @default.
• W2098039291 hasConcept C90509273 @default.
• W2098039291 hasConceptScore W2098039291C154945302 @default.
• W2098039291 hasConceptScore W2098039291C19966478 @default.
• W2098039291 hasConceptScore W2098039291C21822782 @default.
• W2098039291 hasConceptScore W2098039291C24027999 @default.
• W2098039291 hasConceptScore W2098039291C2775924081 @default.
• W2098039291 hasConceptScore W2098039291C31972630 @default.
• W2098039291 hasConceptScore W2098039291C41008148 @default.
• W2098039291 hasConceptScore W2098039291C76155785 @default.
• W2098039291 hasConceptScore W2098039291C90509273 @default.
• W2098039291 hasLocation W20980392911 @default.
• W2098039291 hasOpenAccess W2098039291 @default.
• W2098039291 hasPrimaryLocation W20980392911 @default.
• W2098039291 hasRelatedWork W1518762595 @default.
• W2098039291 hasRelatedWork W1545425497 @default.
• W2098039291 hasRelatedWork W1919315941 @default.
• W2098039291 hasRelatedWork W2070325379 @default.
• W2098039291 hasRelatedWork W2129095806 @default.
• W2098039291 hasRelatedWork W2158580360 @default.
• W2098039291 hasRelatedWork W2313906488 @default.
• W2098039291 hasRelatedWork W2907203795 @default.
• W2098039291 hasRelatedWork W4367460125 @default.
• W2098039291 hasRelatedWork W2162526407 @default.
• W2098039291 isParatext "false" @default.
• W2098039291 isRetracted "false" @default.
• W2098039291 magId "2098039291" @default.
• W2098039291 workType "book-chapter" @default.