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JRM Vol.14 No.2 pp. 105-111
doi: 10.20965/jrm.2002.p0105
(2002)

Paper:

Omnidirectional Mobile Platform for Research and Development

Kuniaki Kawabata, Tsuyoshi Suzuki, Hayato Kaetsu and Hajime Asama

Advanced Engineering Center, RIKEN (The Institute of Physical and Chemical Research), Hirosawa 2-1, Wako-shi, Saitama 351-0198, Japan

Received:
November 13, 2001
Accepted:
December 17, 2001
Published:
April 20, 2002
Keywords:
omnidirectional driving mechanism, RoboCup, platform
Abstract

We detail an omnidirectional mobile platform for research and development (R&D). In 1995, we reported that a special driving mechanism for holonomic omnidirectional mobile robots was designed to enable 3 degree of freedom (DOF) motion control by 3 corresponding actuators decoupled with no redundancy. We constructed a omnidirectional mobile robot prototype with a drive. We took part in a RoboCup tournament as Uttori United with omnidirectional mobile robots: ZEN-450, using our driving mechanism, in 1997, and 2000. ZEN-450 showed high mobility during the tournament However, unpredictable problems occurred because ZEN-450 is not developed for robotic soccer. , We considered improving its hardware as a platform. We report the new platform and test-running results.

Cite this article as:
Kuniaki Kawabata, Tsuyoshi Suzuki, Hayato Kaetsu, and Hajime Asama, “Omnidirectional Mobile Platform for Research and Development,” J. Robot. Mechatron., Vol.14, No.2, pp. 105-111, 2002.
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