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

Teruyoshi Ogawa; Taro Nakamura

doi:10.20965/jrm.2012.p0340

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JRM Vol.24 No.2 pp. 340-346

doi: 10.20965/jrm.2012.p0340

(2012)

Paper:

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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

Received:

September 29, 2011

Accepted:

January 20, 2012

Published:

April 20, 2012

Keywords:

omnidirectional mobile robot, traveling wave, snail locomotion, biomimetic robot

Abstract

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:

T. Ogawa and T. 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:

References

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[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.
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[4] H. D. Jones, “Circulatory pressures in Helix pomatia,” L. Comp. Biochem. Physiol., Vol.39A, p. 289, 1971.
[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] 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] 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] 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] 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] 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 article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[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.