single-rb.php

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

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.

Mobile robot equipped with in-wheel motors

Mobile robot equipped with in-wheel motors

Cite this article as:
S. Tarao, Y. Fujiwara, N. Tsuda, and S. 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:
References
  1. [1] S. Yuta, “Open Experiment of Autonomous Navigation of Mobile Robots in the City: Tsukuba Challenge 2014 and the Results,” J. Robot. Mechatron., Vol.27, No.4, pp. 318-326, 2015.
  2. [2] S. Tarao, K. Asano, and T. Sato, “Process Analysis of Social Implementation Approach Based on Robot Education,” J. JSEE, Vol.63, No.1, pp. 62-67, 2015 (in Japanese).
  3. [3] A. Watts, A. Vallance, A. Whitehead, C. Hilton, and A. Fraser, “The Technology and Economics of In-Wheel Motors,” SAE Int. J. of Passenger Cars – Electronic and Electrical Systems, Vol.3, No.2, pp. 37-55, 2010.
  4. [4] K. Shimane, R. Ueda, and S. Tarao, “Prototyping of Kinematics Simulator for Supporting Autonomous Mobile Robot Development,” J. Robot. Mechatron., Vol.28, No.4, pp. 470-478, 2016.
  5. [5] T. Tomizawa, M. Shibuya, R. Tanaka, and T. Nishida, “Developing a Remotely Operated Portable Mobile Robot,” J. Robot. Mechatron., Vol.30, No.4, pp. 584-590, 2018.
  6. [6] Y. Kakigi, K. Inoue, M. Hijikata, and K. Ozaki, “Development of Flexible Cowl Covered Mobile Robot in Consideration with Safety and Design Property,” J. Robot. Mechatron., Vol.29, No.4, pp. 630-638, 2017.
  7. [7] Y. Kanuki and N. Ohta, “Development of Autonomous Robot with Simple Navigation System for Tsukuba Challenge 2015,” J. Robot. Mechatron., Vol.28, No.4, pp. 432-440, 2016.
  8. [8] S. Ohkawa, Y. Takita, H. Date, and K. Kobayashi, “Development of Autonomous Mobile Robot Using Articulated Steering Vehicle and Lateral Guiding Method,” J. Robot. Mechatron., Vol.27, No.4, pp. 337-345, 2015.
  9. [9] S. Tarao, Y. Fujiwara, N. Tsuda, and S. Takata, “Development of Autonomous Mobile Robot Platform Equipped with a Drive Unit Consisting of Low-End In-Wheel Motors,” Proc. 2020 5th Int. Conf. on Control and Robotics Engineering (ICCRE2020), pp. 42-47, 2020.
  10. [10] S. Thrun, W. Burgard, and D. Fox, “Probabilistic Robotics,” MIT Press, 2005.
  11. [11] J. Borenstein and L. Feng, “Gyrodometry: A New Method for Combining Data from Gyros and Odometry in Mobile Robots,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 423-428, 1996.
  12. [12] Y. Pyo, H. Cho, R. Jung, and T. Lim, “ROS Robot Programming,” Robotis Co., Ltd., 2017.

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

Last updated on Apr. 22, 2024