JRM Vol.24 No.2 pp. 340-346
doi: 10.20965/jrm.2012.p0340


Path Tracking Method for Traveling-Wave-Type Omnidirectional Mobile Robot (TORoIII)

Teruyoshi Ogawa and Taro Nakamura

Faculty of Science and Engineering, Department of Precision Mechanics, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan

September 29, 2011
January 20, 2012
April 20, 2012
omnidirectional mobile robot, traveling wave, snail locomotion, biomimetic robot

An omnidirectional movement mechanism is needed that can move a robot in a narrow complicated passage. However, existing mechanisms cannot achieve stable operations. We noted that a snail uses traveling waves and can achieve a stable operation because of a large landing area. We therefore developed a traveling-wave-type mobile robot (TORoIII) using a snail’s locomotive mechanism. However, the directions of the robot were restricted by the number of units, i.e., the directions corresponded to the number of units. In addition, to use this robot as an autonomous robot, self-localization method and path planning method are required. At present, these methods for this robot have not been proposed. In this study, we propose a new perfectly omnidirectional locomotion strategy for TORoIII. In addition, we propose odometry based on kinematics and path planning method based on potential method. Furthermore, we propose online path tracking method using the odometry. We experimentally confirmed the utility of these proposed methods.

Cite this article as:
Teruyoshi Ogawa and Taro Nakamura, “Path Tracking Method for Traveling-Wave-Type Omnidirectional Mobile Robot (TORoIII),” J. Robot. Mechatron., Vol.24, No.2, pp. 340-346, 2012.
Data files:
  1. [1] J. Urbano, K. Terashima , T. Miyoshi, and H. Kitagawa, “Velocity Control of an Omni-directional Wheelchair Considering Use’s Comfort by Suppressing Vibration,” IEEE/RSJ 2005 Int. Conf. on Intelligent Robots and Systems, pp. 3169-3174, 2005.
  2. [2] B. Chan, N. J. Balmforth, and A. E. Hosoi, “Building a better snail: Lubrication and adhesive locomotion,” Physics of Fluids, Vol.17, Issue 11, pp. 113101 1-10, 2005.
  3. [3] R. Fujiwara, H. Morikawa, and S. Kobayashi, “The Mechanism of Pedal Locomotion of Gastropod,” The Japan Society of Mechanical Engineers, Vol.67, No.658, pp. 1934-1940, 2001.
  4. [4] H. D. Jones, “Circulatory pressures in Helix pomatia,” L. Comp. Biochem. Physiol., Vol.39A, p. 289, 1971.
  5. [5] R. Fujiwara, H. Morikawa, Y. Hukuya, H. Sakai, and S. Kobayashi, “Pedal-Like Locomotion Mechanism Modeled on Pedal Crawling of Terrestrial Gastropod,” The Japan Society of Mechanical Engineers, Vol.70, No.695, pp. 215-221, 2004.
  6. [6] T. Nakamura and K. Sato, “Locomotion Strategy for an Omnidirectional Mobile Robot Using Traveling Waves Propagation,” IEEE Int. Conf. on Robotics and Automation, pp. 3769-3774, 2010.
  7. [7] T. Nakamura and K. Sato, “Development of an omni-directional mobile robot using traveling waves based on snail locomotion,” J. of Industrial Robot, Vol.35, No.3, pp. 206-210, 2008.
  8. [8] K. Satoh and T. Nakamura, “Development of an omni-directional mobile robot based on snail locomotion,” Proc. of 7th Int. Conf. on Climbing and Walking Robots and the Support Technologies for Mobile Machines, pp. 144-152, 2007.
  9. [9] R. B. Tilove, “Local Obstacle Avoidance for Mobile Robots Based on theMethod of Artificial Potentials,” IEEE Int. Conf. on Robotics and Automation, pp. 566-571, 1990.
  10. [10] N. Nejatbakhsh and K. Kosuge “User-Environment Based Navigation Algorithm for an Omnidirectional Passive Walking Aid System,” IEEE Int. Conf. on Rehabilitation Robotics, pp. 178-181, 2005.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Mar. 05, 2021