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JRM Vol.32 No.6 pp. 1154-1163
doi: 10.20965/jrm.2020.p1154
(2020)

Paper:

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

Received:
July 11, 2020
Accepted:
October 17, 2020
Published:
December 20, 2020
Keywords:
Real World Robot Challenge, autonomous mobile robot, prototyping, platform, in-wheel motor
Abstract
Prototyping Using a Mobile Robot Platform Equipped with Low-End In-Wheel Motors

Mobile robot equipped with in-wheel motors

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.

Cite this article as:
Susumu Tarao, Yasunori Fujiwara, Naoaki Tsuda, and Soichiro Takata, “Prototyping Using a Mobile Robot Platform Equipped with Low-End In-Wheel Motors,” J. Robot. Mechatron., Vol.32, No.6, pp. 1154-1163, 2020.
Data files:
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Last updated on Oct. 15, 2021