Prototyping Using a Mobile Robot Platform Equipped with Low-End In-Wheel Motors
Susumu Tarao*, Yasunori Fujiwara**, Naoaki Tsuda***, and Soichiro Takata*
*Department of Mechanical Engineering, National Institute of Technology, Tokyo College
1220-2 Kunugida-machi, Hachioji-shi, Tokyo 193-0997, Japan
**Department of Engineering for Future Innovation, National Institute of Technology, Ichinoseki College
Takanashi, Hagisho, Ichinoseki-shi, Iwate 021-8511, Japan
***Department of Intelligent Mechanical Engineering, National Institute of Technology, Wakayama College
77 Noshima, Nada-cho, Gobo-shi, Wakayama 644-0023, Japan
In the near future, autonomous mobile robots are expected to operate effectively in various locations, such as in living spaces as well as industrial establishments. Against this background, a new autonomous mobile robot platform was designed and prototyped in this research. For simplicity of design and easy assembly of the drive units, a robot with two low-end in-wheel motors is considered. It is also effective in saving space, and can be used for high-power operations and travelability in various road surface conditions. This paper presents a concept for developing a new type of autonomous mobile robot platform, its control system for autonomous operation, actual prototyping using this platform, and sample applications of this platform.
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