Development of a Control System of an Omni-directional Vehicle with a Step Climbing Ability View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2006

AUTHORS

Daisuke Chugo , Kuniaki Kawabata , Hayato Kaetsu , Hajime Asama , Taketoshi Mishima

ABSTRACT

We proposed a new holonomic mobile mechanism which is capable of running over the step. This mechanism realizes omni-directional motion on flat floor and passes over non-flat ground in forward or backward direction. The vehicle equips seven omni-directional wheels with cylindrical free rollers and two passive body axis that provide to change the shape of the body on the rough terrain. This paper presents a method to control the wheels for passing over rough terrain with the stable posture. Our vehicle is required to keep synchronization among its wheels for climbing the step without slipping and blocking. Therefore, in this paper, an algorithm of synchronization among all wheels is proposed. The performance of our system is experimented by means of computer simulations and experiments using our prototype vehicle. More... »

PAGES

245-254

Book

TITLE

Field and Service Robotics

ISBN

3-540-32801-7

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/10991459_24

DOI

http://dx.doi.org/10.1007/10991459_24

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1014394946


Indexing Status Check whether this publication has been indexed by Scopus and Web Of Science using the SN Indexing Status Tool
Incoming Citations Browse incoming citations for this publication using opencitations.net

JSON-LD is the canonical representation for SciGraph data.

TIP: You can open this SciGraph record using an external JSON-LD service: JSON-LD Playground Google SDTT

[
  {
    "@context": "https://springernature.github.io/scigraph/jsonld/sgcontext.json", 
    "about": [
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/0801", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Artificial Intelligence and Image Processing", 
        "type": "DefinedTerm"
      }, 
      {
        "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/08", 
        "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
        "name": "Information and Computing Sciences", 
        "type": "DefinedTerm"
      }
    ], 
    "author": [
      {
        "affiliation": {
          "alternateName": "Saitama University", 
          "id": "https://www.grid.ac/institutes/grid.263023.6", 
          "name": [
            "Saitama University 255, Shimo-Ookubo, Saitama-shi, Saitama 338-8570, Japan"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Chugo", 
        "givenName": "Daisuke", 
        "id": "sg:person.013146170260.45", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013146170260.45"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "RIKEN", 
          "id": "https://www.grid.ac/institutes/grid.7597.c", 
          "name": [
            "RIKEN (The Institute of Physical and Chemical Research), 2-1, Hirosawa, Wako-shi, Saitama 351-0198, Japan"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Kawabata", 
        "givenName": "Kuniaki", 
        "id": "sg:person.011207745276.80", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.011207745276.80"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "RIKEN", 
          "id": "https://www.grid.ac/institutes/grid.7597.c", 
          "name": [
            "RIKEN (The Institute of Physical and Chemical Research), 2-1, Hirosawa, Wako-shi, Saitama 351-0198, Japan"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Kaetsu", 
        "givenName": "Hayato", 
        "id": "sg:person.015523251111.81", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015523251111.81"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "University of Tokyo", 
          "id": "https://www.grid.ac/institutes/grid.26999.3d", 
          "name": [
            "The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8904, Japan"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Asama", 
        "givenName": "Hajime", 
        "id": "sg:person.010757025675.28", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.010757025675.28"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Saitama University", 
          "id": "https://www.grid.ac/institutes/grid.263023.6", 
          "name": [
            "Saitama University 255, Shimo-Ookubo, Saitama-shi, Saitama 338-8570, Japan"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Mishima", 
        "givenName": "Taketoshi", 
        "id": "sg:person.013106042101.51", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013106042101.51"
        ], 
        "type": "Person"
      }
    ], 
    "datePublished": "2006", 
    "datePublishedReg": "2006-01-01", 
    "description": "We proposed a new holonomic mobile mechanism which is capable of running over the step. This mechanism realizes omni-directional motion on flat floor and passes over non-flat ground in forward or backward direction. The vehicle equips seven omni-directional wheels with cylindrical free rollers and two passive body axis that provide to change the shape of the body on the rough terrain. This paper presents a method to control the wheels for passing over rough terrain with the stable posture. Our vehicle is required to keep synchronization among its wheels for climbing the step without slipping and blocking. Therefore, in this paper, an algorithm of synchronization among all wheels is proposed. The performance of our system is experimented by means of computer simulations and experiments using our prototype vehicle.", 
    "editor": [
      {
        "familyName": "Yuta", 
        "givenName": "Shin\u2019ichi", 
        "type": "Person"
      }, 
      {
        "familyName": "Asama", 
        "givenName": "Hajima", 
        "type": "Person"
      }, 
      {
        "familyName": "Prassler", 
        "givenName": "Erwin", 
        "type": "Person"
      }, 
      {
        "familyName": "Tsubouchi", 
        "givenName": "Takashi", 
        "type": "Person"
      }, 
      {
        "familyName": "Thrun", 
        "givenName": "Sebastian", 
        "type": "Person"
      }
    ], 
    "genre": "chapter", 
    "id": "sg:pub.10.1007/10991459_24", 
    "inLanguage": [
      "en"
    ], 
    "isAccessibleForFree": false, 
    "isPartOf": {
      "isbn": [
        "3-540-32801-7"
      ], 
      "name": "Field and Service Robotics", 
      "type": "Book"
    }, 
    "name": "Development of a Control System of an Omni-directional Vehicle with a Step Climbing Ability", 
    "pagination": "245-254", 
    "productId": [
      {
        "name": "doi", 
        "type": "PropertyValue", 
        "value": [
          "10.1007/10991459_24"
        ]
      }, 
      {
        "name": "readcube_id", 
        "type": "PropertyValue", 
        "value": [
          "44939208ed33b8f85e09592bd12873f1c28ddea54cf9fd3f6ce5205beb20a114"
        ]
      }, 
      {
        "name": "dimensions_id", 
        "type": "PropertyValue", 
        "value": [
          "pub.1014394946"
        ]
      }
    ], 
    "publisher": {
      "location": "Berlin/Heidelberg", 
      "name": "Springer-Verlag", 
      "type": "Organisation"
    }, 
    "sameAs": [
      "https://doi.org/10.1007/10991459_24", 
      "https://app.dimensions.ai/details/publication/pub.1014394946"
    ], 
    "sdDataset": "chapters", 
    "sdDatePublished": "2019-04-15T20:47", 
    "sdLicense": "https://scigraph.springernature.com/explorer/license/", 
    "sdPublisher": {
      "name": "Springer Nature - SN SciGraph project", 
      "type": "Organization"
    }, 
    "sdSource": "s3://com-uberresearch-data-dimensions-target-20181106-alternative/cleanup/v134/2549eaecd7973599484d7c17b260dba0a4ecb94b/merge/v9/a6c9fde33151104705d4d7ff012ea9563521a3ce/jats-lookup/v90/0000000001_0000000264/records_8690_00000024.jsonl", 
    "type": "Chapter", 
    "url": "http://link.springer.com/10.1007/10991459_24"
  }
]
 

Download the RDF metadata as:  json-ld nt turtle xml License info

HOW TO GET THIS DATA PROGRAMMATICALLY:

JSON-LD is a popular format for linked data which is fully compatible with JSON.

curl -H 'Accept: application/ld+json' 'https://scigraph.springernature.com/pub.10.1007/10991459_24'

N-Triples is a line-based linked data format ideal for batch operations.

curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1007/10991459_24'

Turtle is a human-readable linked data format.

curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1007/10991459_24'

RDF/XML is a standard XML format for linked data.

curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1007/10991459_24'


 

This table displays all metadata directly associated to this object as RDF triples.

118 TRIPLES      22 PREDICATES      27 URIs      20 LITERALS      8 BLANK NODES

Subject Predicate Object
1 sg:pub.10.1007/10991459_24 schema:about anzsrc-for:08
2 anzsrc-for:0801
3 schema:author N66adcb495a2848f9b6cbc7ee06d02756
4 schema:datePublished 2006
5 schema:datePublishedReg 2006-01-01
6 schema:description We proposed a new holonomic mobile mechanism which is capable of running over the step. This mechanism realizes omni-directional motion on flat floor and passes over non-flat ground in forward or backward direction. The vehicle equips seven omni-directional wheels with cylindrical free rollers and two passive body axis that provide to change the shape of the body on the rough terrain. This paper presents a method to control the wheels for passing over rough terrain with the stable posture. Our vehicle is required to keep synchronization among its wheels for climbing the step without slipping and blocking. Therefore, in this paper, an algorithm of synchronization among all wheels is proposed. The performance of our system is experimented by means of computer simulations and experiments using our prototype vehicle.
7 schema:editor N63a50aea89504a9abb5b8a5ed4089e12
8 schema:genre chapter
9 schema:inLanguage en
10 schema:isAccessibleForFree false
11 schema:isPartOf N5d8f14869beb42a6b6055c53e35c5c87
12 schema:name Development of a Control System of an Omni-directional Vehicle with a Step Climbing Ability
13 schema:pagination 245-254
14 schema:productId N1e8900fcc7454b80865984c3c3aaefa3
15 N3d49064a1c2b4b52b3ee88db2aa2aa23
16 N68bf5a9b08a742bbb7d4c221f8b829e3
17 schema:publisher Nac37551ec95048a5870bbaa14fc81db2
18 schema:sameAs https://app.dimensions.ai/details/publication/pub.1014394946
19 https://doi.org/10.1007/10991459_24
20 schema:sdDatePublished 2019-04-15T20:47
21 schema:sdLicense https://scigraph.springernature.com/explorer/license/
22 schema:sdPublisher Nfddace621b924c3aa25a5a50c99c091c
23 schema:url http://link.springer.com/10.1007/10991459_24
24 sgo:license sg:explorer/license/
25 sgo:sdDataset chapters
26 rdf:type schema:Chapter
27 N09d08818a75b465eab063c03587ad607 schema:familyName Prassler
28 schema:givenName Erwin
29 rdf:type schema:Person
30 N1e8900fcc7454b80865984c3c3aaefa3 schema:name readcube_id
31 schema:value 44939208ed33b8f85e09592bd12873f1c28ddea54cf9fd3f6ce5205beb20a114
32 rdf:type schema:PropertyValue
33 N26629f227c7e493fa0638a96b7da6bb4 rdf:first N68ea75563cc24ace86cbb9fdf7e027bf
34 rdf:rest Nb01ea53681204250b9f1324e51ab5ca1
35 N3d49064a1c2b4b52b3ee88db2aa2aa23 schema:name doi
36 schema:value 10.1007/10991459_24
37 rdf:type schema:PropertyValue
38 N4a3692555e4a4bffa74de4feb2f36d13 rdf:first sg:person.011207745276.80
39 rdf:rest Nd89b65dea2234b39a94e31df66791e7e
40 N5d8f14869beb42a6b6055c53e35c5c87 schema:isbn 3-540-32801-7
41 schema:name Field and Service Robotics
42 rdf:type schema:Book
43 N63a50aea89504a9abb5b8a5ed4089e12 rdf:first Ndaab611836fd45199c66fffc26895dd8
44 rdf:rest N26629f227c7e493fa0638a96b7da6bb4
45 N66adcb495a2848f9b6cbc7ee06d02756 rdf:first sg:person.013146170260.45
46 rdf:rest N4a3692555e4a4bffa74de4feb2f36d13
47 N68bf5a9b08a742bbb7d4c221f8b829e3 schema:name dimensions_id
48 schema:value pub.1014394946
49 rdf:type schema:PropertyValue
50 N68ea75563cc24ace86cbb9fdf7e027bf schema:familyName Asama
51 schema:givenName Hajima
52 rdf:type schema:Person
53 N8fdbb4cf7c69495c803783bcdc34b724 schema:familyName Thrun
54 schema:givenName Sebastian
55 rdf:type schema:Person
56 Nac37551ec95048a5870bbaa14fc81db2 schema:location Berlin/Heidelberg
57 schema:name Springer-Verlag
58 rdf:type schema:Organisation
59 Nb01ea53681204250b9f1324e51ab5ca1 rdf:first N09d08818a75b465eab063c03587ad607
60 rdf:rest Nea2abd4f594e41d99db1492812499387
61 Nbb400da7e5bc43849a4079bc4fd236ff rdf:first sg:person.013106042101.51
62 rdf:rest rdf:nil
63 Nd89b65dea2234b39a94e31df66791e7e rdf:first sg:person.015523251111.81
64 rdf:rest Ndd88ea2ad6c6483c84ed6622aa85837c
65 Ndaab611836fd45199c66fffc26895dd8 schema:familyName Yuta
66 schema:givenName Shin’ichi
67 rdf:type schema:Person
68 Ndd88ea2ad6c6483c84ed6622aa85837c rdf:first sg:person.010757025675.28
69 rdf:rest Nbb400da7e5bc43849a4079bc4fd236ff
70 Nde009cde5eb043ffb572da76c0c90f8e rdf:first N8fdbb4cf7c69495c803783bcdc34b724
71 rdf:rest rdf:nil
72 Ndfb231817540401093be8713c4b97b88 schema:familyName Tsubouchi
73 schema:givenName Takashi
74 rdf:type schema:Person
75 Nea2abd4f594e41d99db1492812499387 rdf:first Ndfb231817540401093be8713c4b97b88
76 rdf:rest Nde009cde5eb043ffb572da76c0c90f8e
77 Nfddace621b924c3aa25a5a50c99c091c schema:name Springer Nature - SN SciGraph project
78 rdf:type schema:Organization
79 anzsrc-for:08 schema:inDefinedTermSet anzsrc-for:
80 schema:name Information and Computing Sciences
81 rdf:type schema:DefinedTerm
82 anzsrc-for:0801 schema:inDefinedTermSet anzsrc-for:
83 schema:name Artificial Intelligence and Image Processing
84 rdf:type schema:DefinedTerm
85 sg:person.010757025675.28 schema:affiliation https://www.grid.ac/institutes/grid.26999.3d
86 schema:familyName Asama
87 schema:givenName Hajime
88 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.010757025675.28
89 rdf:type schema:Person
90 sg:person.011207745276.80 schema:affiliation https://www.grid.ac/institutes/grid.7597.c
91 schema:familyName Kawabata
92 schema:givenName Kuniaki
93 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.011207745276.80
94 rdf:type schema:Person
95 sg:person.013106042101.51 schema:affiliation https://www.grid.ac/institutes/grid.263023.6
96 schema:familyName Mishima
97 schema:givenName Taketoshi
98 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013106042101.51
99 rdf:type schema:Person
100 sg:person.013146170260.45 schema:affiliation https://www.grid.ac/institutes/grid.263023.6
101 schema:familyName Chugo
102 schema:givenName Daisuke
103 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013146170260.45
104 rdf:type schema:Person
105 sg:person.015523251111.81 schema:affiliation https://www.grid.ac/institutes/grid.7597.c
106 schema:familyName Kaetsu
107 schema:givenName Hayato
108 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015523251111.81
109 rdf:type schema:Person
110 https://www.grid.ac/institutes/grid.263023.6 schema:alternateName Saitama University
111 schema:name Saitama University 255, Shimo-Ookubo, Saitama-shi, Saitama 338-8570, Japan
112 rdf:type schema:Organization
113 https://www.grid.ac/institutes/grid.26999.3d schema:alternateName University of Tokyo
114 schema:name The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8904, Japan
115 rdf:type schema:Organization
116 https://www.grid.ac/institutes/grid.7597.c schema:alternateName RIKEN
117 schema:name RIKEN (The Institute of Physical and Chemical Research), 2-1, Hirosawa, Wako-shi, Saitama 351-0198, Japan
118 rdf:type schema:Organization
 




Preview window. Press ESC to close (or click here)


...