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- W3140375163 abstract "We introduce passive mobile robots consisting of various wheels; omnidirectional wheels or one-wheel casters, which are controlled by servo brakes. These robots can realize several functions, such as path tracking, gravity compensation on a slope, and collision avoidance function, by controlling only the servo brakes. They employ passive dynamics with respect to the force applied by a human. In this paper, we derive and analyze a feasible braking force/moment that is necessary for controlling the robot with servo brakes. We reveal the advantages and disadvantages of the feasible braking force/moment of each robot developed by us. In addition, we propose a new passive type double wheel caster unit, called PDC, on the basis of the analysis. We develop a prototype PDC called PDC-P1. Finally, we handle a long object by two PDC-P1s actually, and realize the path tracking function as example to confirm its validity." @default.
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- W3140375163 date "2011-09-01" @default.
- W3140375163 modified "2023-09-24" @default.
- W3140375163 title "Development of omni-directional and fast-responsive net-structure proximity sensor" @default.
- W3140375163 doi "https://doi.org/10.1109/iros.2011.6048174" @default.
- W3140375163 hasPublicationYear "2011" @default.
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