Matches in SemOpenAlex for { <https://semopenalex.org/work/W2157267202> ?p ?o ?g. }
Showing items 1 to 93 of
93
with 100 items per page.
- W2157267202 endingPage "896" @default.
- W2157267202 startingPage "880" @default.
- W2157267202 abstract "Omnidirectional vehicles have been widely applied in several areas, but most of them are designed for the case of motion on flat, smooth terrain, and are not feasible for outdoor usage. This paper presents the design and development of an omnidirectional mobile robot that possesses high mobility in rough terrain. The omnidirectional robot consists of a main body with four sets of mobility modules, called an active split offset caster (ASOC). The ASOC module has independently driven dual wheels that produce arbitrary planar translational velocity, enabling the robot to achieve its omnidirectional motion. Each module is connected to the main body via a parallel link with shock absorbers, allowing the robot to conform to uneven terrain. In this paper, the design and development of the ASOC‐driven omnidirectional mobile robot for rough terrain are described. A control scheme that considers the kinematics of the omnidirectional mobile robot is presented. The mobility of the robot is also evaluated experimentally based on a metric called the ASOC mobility index. The mobility evaluation test clarifies a design tradeoff between terrain adaptability and omnidirectional mobility due to the shock absorbers. In addition, an odometry improvement technique that can reduce position estimation error due to wheel slippage is proposed. Experimental odometry tests confirmed that the proposed technique is able to improve the odometry accuracy for sharp‐turning maneuvers." @default.
- W2157267202 created "2016-06-24" @default.
- W2157267202 creator A5018788822 @default.
- W2157267202 creator A5033328954 @default.
- W2157267202 creator A5051086231 @default.
- W2157267202 creator A5052432097 @default.
- W2157267202 date "2014-11-13" @default.
- W2157267202 modified "2023-09-30" @default.
- W2157267202 title "Design, Development, and Mobility Evaluation of an Omnidirectional Mobile Robot for Rough Terrain" @default.
- W2157267202 cites W1986469871 @default.
- W2157267202 cites W1991722338 @default.
- W2157267202 cites W2002282487 @default.
- W2157267202 cites W2006424790 @default.
- W2157267202 cites W2069635875 @default.
- W2157267202 cites W2072471481 @default.
- W2157267202 cites W2095936905 @default.
- W2157267202 cites W2097108504 @default.
- W2157267202 cites W2100339372 @default.
- W2157267202 cites W2102145772 @default.
- W2157267202 cites W2103924815 @default.
- W2157267202 cites W2105141733 @default.
- W2157267202 cites W2130187425 @default.
- W2157267202 cites W2156466456 @default.
- W2157267202 cites W2158427401 @default.
- W2157267202 cites W2165258406 @default.
- W2157267202 cites W2168108948 @default.
- W2157267202 cites W2615434978 @default.
- W2157267202 doi "https://doi.org/10.1002/rob.21557" @default.
- W2157267202 hasPublicationYear "2014" @default.
- W2157267202 type Work @default.
- W2157267202 sameAs 2157267202 @default.
- W2157267202 citedByCount "20" @default.
- W2157267202 countsByYear W21572672022016 @default.
- W2157267202 countsByYear W21572672022017 @default.
- W2157267202 countsByYear W21572672022018 @default.
- W2157267202 countsByYear W21572672022019 @default.
- W2157267202 countsByYear W21572672022020 @default.
- W2157267202 countsByYear W21572672022021 @default.
- W2157267202 countsByYear W21572672022022 @default.
- W2157267202 crossrefType "journal-article" @default.
- W2157267202 hasAuthorship W2157267202A5018788822 @default.
- W2157267202 hasAuthorship W2157267202A5033328954 @default.
- W2157267202 hasAuthorship W2157267202A5051086231 @default.
- W2157267202 hasAuthorship W2157267202A5052432097 @default.
- W2157267202 hasConcept C127413603 @default.
- W2157267202 hasConcept C154945302 @default.
- W2157267202 hasConcept C161840515 @default.
- W2157267202 hasConcept C19966478 @default.
- W2157267202 hasConcept C205649164 @default.
- W2157267202 hasConcept C21822782 @default.
- W2157267202 hasConcept C24027999 @default.
- W2157267202 hasConcept C31972630 @default.
- W2157267202 hasConcept C41008148 @default.
- W2157267202 hasConcept C44154836 @default.
- W2157267202 hasConcept C49441653 @default.
- W2157267202 hasConcept C58640448 @default.
- W2157267202 hasConcept C76155785 @default.
- W2157267202 hasConcept C90509273 @default.
- W2157267202 hasConceptScore W2157267202C127413603 @default.
- W2157267202 hasConceptScore W2157267202C154945302 @default.
- W2157267202 hasConceptScore W2157267202C161840515 @default.
- W2157267202 hasConceptScore W2157267202C19966478 @default.
- W2157267202 hasConceptScore W2157267202C205649164 @default.
- W2157267202 hasConceptScore W2157267202C21822782 @default.
- W2157267202 hasConceptScore W2157267202C24027999 @default.
- W2157267202 hasConceptScore W2157267202C31972630 @default.
- W2157267202 hasConceptScore W2157267202C41008148 @default.
- W2157267202 hasConceptScore W2157267202C44154836 @default.
- W2157267202 hasConceptScore W2157267202C49441653 @default.
- W2157267202 hasConceptScore W2157267202C58640448 @default.
- W2157267202 hasConceptScore W2157267202C76155785 @default.
- W2157267202 hasConceptScore W2157267202C90509273 @default.
- W2157267202 hasIssue "6" @default.
- W2157267202 hasLocation W21572672021 @default.
- W2157267202 hasOpenAccess W2157267202 @default.
- W2157267202 hasPrimaryLocation W21572672021 @default.
- W2157267202 hasRelatedWork W1545425497 @default.
- W2157267202 hasRelatedWork W2015996585 @default.
- W2157267202 hasRelatedWork W2028864324 @default.
- W2157267202 hasRelatedWork W2131012217 @default.
- W2157267202 hasRelatedWork W2131357063 @default.
- W2157267202 hasRelatedWork W2134943711 @default.
- W2157267202 hasRelatedWork W2147929857 @default.
- W2157267202 hasRelatedWork W2168170647 @default.
- W2157267202 hasRelatedWork W2573983092 @default.
- W2157267202 hasRelatedWork W2734306012 @default.
- W2157267202 hasVolume "32" @default.
- W2157267202 isParatext "false" @default.
- W2157267202 isRetracted "false" @default.
- W2157267202 magId "2157267202" @default.
- W2157267202 workType "article" @default.