Construction of an Omnidirectional Mobile Robot Platform Based on Active Dual-Wheel Caster Mechanisms and Development of a Control Simulator View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2000-11

AUTHORS

Fuhua Han, Takaaki Yamada, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

ABSTRACT

In this paper, we describe a new type of holonomic and omnidirectional mobile robot using two driving assemblies, one of which consists of two independent driving wheel mechanisms, just like an active dual-wheel caster with an offset steered axis. Kinematic models of the wheel mechanism and a mobile robot with two driving assemblies are derived, and these models are applied to construct a feedback control system based on a resolved velocity control system for the robot. The effectiveness of the presented method is illustrated by some computer simulations. The prototype of a mobile robot platform using two driving assemblies, which can be controlled by a personal computer or a 3D joystick manipulated by human, is constructed. More... »

PAGES

257-275

Identifiers

URI

http://scigraph.springernature.com/pub.10.1023/a:1008185917537

DOI

http://dx.doi.org/10.1023/a:1008185917537

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1036013935


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": "Saga University", 
          "id": "https://www.grid.ac/institutes/grid.412339.e", 
          "name": [
            "Faculty of Engineering Systems and Technology, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, 840-8502, Saga, Japan"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Han", 
        "givenName": "Fuhua", 
        "id": "sg:person.07350617357.34", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.07350617357.34"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Saga University", 
          "id": "https://www.grid.ac/institutes/grid.412339.e", 
          "name": [
            "Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, 840-8502, Saga, Japan"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Yamada", 
        "givenName": "Takaaki", 
        "id": "sg:person.014657451437.59", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014657451437.59"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Saga University", 
          "id": "https://www.grid.ac/institutes/grid.412339.e", 
          "name": [
            "Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, 840-8502, Saga, Japan"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Watanabe", 
        "givenName": "Keigo", 
        "id": "sg:person.015455032037.26", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015455032037.26"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Saga University", 
          "id": "https://www.grid.ac/institutes/grid.412339.e", 
          "name": [
            "Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, 840-8502, Saga, Japan"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Kiguchi", 
        "givenName": "Kazuo", 
        "id": "sg:person.010020372111.48", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.010020372111.48"
        ], 
        "type": "Person"
      }, 
      {
        "affiliation": {
          "alternateName": "Saga University", 
          "id": "https://www.grid.ac/institutes/grid.412339.e", 
          "name": [
            "Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, 1-Honjomachi, 840-8502, Saga, Japan"
          ], 
          "type": "Organization"
        }, 
        "familyName": "Izumi", 
        "givenName": "Kiyotaka", 
        "id": "sg:person.01277760753.11", 
        "sameAs": [
          "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.01277760753.11"
        ], 
        "type": "Person"
      }
    ], 
    "citation": [
      {
        "id": "https://doi.org/10.7210/jrsj.15.1139", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1019882938"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.7210/jrsj.13.249", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1042470235"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.7210/jrsj.17.51", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1044290001"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/41.31495", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1061168934"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/70.313098", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1061216097"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/70.481750", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1061216250"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/70.499820", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1061216280"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/robot.1995.525546", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1093387572"
        ], 
        "type": "CreativeWork"
      }, 
      {
        "id": "https://doi.org/10.1109/kes.1998.725827", 
        "sameAs": [
          "https://app.dimensions.ai/details/publication/pub.1093455389"
        ], 
        "type": "CreativeWork"
      }
    ], 
    "datePublished": "2000-11", 
    "datePublishedReg": "2000-11-01", 
    "description": "In this paper, we describe a new type of holonomic and omnidirectional mobile robot using two driving assemblies, one of which consists of two independent driving wheel mechanisms, just like an active dual-wheel caster with an offset steered axis. Kinematic models of the wheel mechanism and a mobile robot with two driving assemblies are derived, and these models are applied to construct a feedback control system based on a resolved velocity control system for the robot. The effectiveness of the presented method is illustrated by some computer simulations. The prototype of a mobile robot platform using two driving assemblies, which can be controlled by a personal computer or a 3D joystick manipulated by human, is constructed.", 
    "genre": "research_article", 
    "id": "sg:pub.10.1023/a:1008185917537", 
    "inLanguage": [
      "en"
    ], 
    "isAccessibleForFree": false, 
    "isPartOf": [
      {
        "id": "sg:journal.1135942", 
        "issn": [
          "0921-0296", 
          "1573-0409"
        ], 
        "name": "Journal of Intelligent & Robotic Systems", 
        "type": "Periodical"
      }, 
      {
        "issueNumber": "3", 
        "type": "PublicationIssue"
      }, 
      {
        "type": "PublicationVolume", 
        "volumeNumber": "29"
      }
    ], 
    "name": "Construction of an Omnidirectional Mobile Robot Platform Based on Active Dual-Wheel Caster Mechanisms and Development of a Control Simulator", 
    "pagination": "257-275", 
    "productId": [
      {
        "name": "readcube_id", 
        "type": "PropertyValue", 
        "value": [
          "ab8edd33b19efa70818f8c162734f7aea9274c686b5e624e9c93bd93cdb87bd5"
        ]
      }, 
      {
        "name": "doi", 
        "type": "PropertyValue", 
        "value": [
          "10.1023/a:1008185917537"
        ]
      }, 
      {
        "name": "dimensions_id", 
        "type": "PropertyValue", 
        "value": [
          "pub.1036013935"
        ]
      }
    ], 
    "sameAs": [
      "https://doi.org/10.1023/a:1008185917537", 
      "https://app.dimensions.ai/details/publication/pub.1036013935"
    ], 
    "sdDataset": "articles", 
    "sdDatePublished": "2019-04-10T16:39", 
    "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_8669_00000500.jsonl", 
    "type": "ScholarlyArticle", 
    "url": "http://link.springer.com/10.1023/A:1008185917537"
  }
]
 

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.10.1023/a:1008185917537'

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

curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1023/a:1008185917537'

Turtle is a human-readable linked data format.

curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1023/a:1008185917537'

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

curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1023/a:1008185917537'


 

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

118 TRIPLES      21 PREDICATES      36 URIs      19 LITERALS      7 BLANK NODES

Subject Predicate Object
1 sg:pub.10.1023/a:1008185917537 schema:about anzsrc-for:08
2 anzsrc-for:0801
3 schema:author N03de4e0a82e340ce963302a9fd2c56a6
4 schema:citation https://doi.org/10.1109/41.31495
5 https://doi.org/10.1109/70.313098
6 https://doi.org/10.1109/70.481750
7 https://doi.org/10.1109/70.499820
8 https://doi.org/10.1109/kes.1998.725827
9 https://doi.org/10.1109/robot.1995.525546
10 https://doi.org/10.7210/jrsj.13.249
11 https://doi.org/10.7210/jrsj.15.1139
12 https://doi.org/10.7210/jrsj.17.51
13 schema:datePublished 2000-11
14 schema:datePublishedReg 2000-11-01
15 schema:description In this paper, we describe a new type of holonomic and omnidirectional mobile robot using two driving assemblies, one of which consists of two independent driving wheel mechanisms, just like an active dual-wheel caster with an offset steered axis. Kinematic models of the wheel mechanism and a mobile robot with two driving assemblies are derived, and these models are applied to construct a feedback control system based on a resolved velocity control system for the robot. The effectiveness of the presented method is illustrated by some computer simulations. The prototype of a mobile robot platform using two driving assemblies, which can be controlled by a personal computer or a 3D joystick manipulated by human, is constructed.
16 schema:genre research_article
17 schema:inLanguage en
18 schema:isAccessibleForFree false
19 schema:isPartOf N3b0caad025f24228b346b4dab75d478c
20 N99fb8c1356b84bcba81dc66a9db15eac
21 sg:journal.1135942
22 schema:name Construction of an Omnidirectional Mobile Robot Platform Based on Active Dual-Wheel Caster Mechanisms and Development of a Control Simulator
23 schema:pagination 257-275
24 schema:productId N1ffb9c19dc1545358ff55eafc8ef4748
25 N85ff32cc861b4c8197612a6bb2898747
26 Ne91675c45fc149a2a7e4d82b8ebb184f
27 schema:sameAs https://app.dimensions.ai/details/publication/pub.1036013935
28 https://doi.org/10.1023/a:1008185917537
29 schema:sdDatePublished 2019-04-10T16:39
30 schema:sdLicense https://scigraph.springernature.com/explorer/license/
31 schema:sdPublisher N674f67f80ccb48e59406bba8a7b8be1b
32 schema:url http://link.springer.com/10.1023/A:1008185917537
33 sgo:license sg:explorer/license/
34 sgo:sdDataset articles
35 rdf:type schema:ScholarlyArticle
36 N03de4e0a82e340ce963302a9fd2c56a6 rdf:first sg:person.07350617357.34
37 rdf:rest N8ff77a72bba7456bb11bdeb1d616bfc0
38 N1ffb9c19dc1545358ff55eafc8ef4748 schema:name dimensions_id
39 schema:value pub.1036013935
40 rdf:type schema:PropertyValue
41 N3b0caad025f24228b346b4dab75d478c schema:issueNumber 3
42 rdf:type schema:PublicationIssue
43 N674f67f80ccb48e59406bba8a7b8be1b schema:name Springer Nature - SN SciGraph project
44 rdf:type schema:Organization
45 N73623c7b2de841c9abc981bd109ba5ad rdf:first sg:person.010020372111.48
46 rdf:rest Nd96634d1979c4fc3af65bce0f3fa475a
47 N85ff32cc861b4c8197612a6bb2898747 schema:name readcube_id
48 schema:value ab8edd33b19efa70818f8c162734f7aea9274c686b5e624e9c93bd93cdb87bd5
49 rdf:type schema:PropertyValue
50 N8ff77a72bba7456bb11bdeb1d616bfc0 rdf:first sg:person.014657451437.59
51 rdf:rest Nd879af7e0d9a48f88aa7ad384238be92
52 N99fb8c1356b84bcba81dc66a9db15eac schema:volumeNumber 29
53 rdf:type schema:PublicationVolume
54 Nd879af7e0d9a48f88aa7ad384238be92 rdf:first sg:person.015455032037.26
55 rdf:rest N73623c7b2de841c9abc981bd109ba5ad
56 Nd96634d1979c4fc3af65bce0f3fa475a rdf:first sg:person.01277760753.11
57 rdf:rest rdf:nil
58 Ne91675c45fc149a2a7e4d82b8ebb184f schema:name doi
59 schema:value 10.1023/a:1008185917537
60 rdf:type schema:PropertyValue
61 anzsrc-for:08 schema:inDefinedTermSet anzsrc-for:
62 schema:name Information and Computing Sciences
63 rdf:type schema:DefinedTerm
64 anzsrc-for:0801 schema:inDefinedTermSet anzsrc-for:
65 schema:name Artificial Intelligence and Image Processing
66 rdf:type schema:DefinedTerm
67 sg:journal.1135942 schema:issn 0921-0296
68 1573-0409
69 schema:name Journal of Intelligent & Robotic Systems
70 rdf:type schema:Periodical
71 sg:person.010020372111.48 schema:affiliation https://www.grid.ac/institutes/grid.412339.e
72 schema:familyName Kiguchi
73 schema:givenName Kazuo
74 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.010020372111.48
75 rdf:type schema:Person
76 sg:person.01277760753.11 schema:affiliation https://www.grid.ac/institutes/grid.412339.e
77 schema:familyName Izumi
78 schema:givenName Kiyotaka
79 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.01277760753.11
80 rdf:type schema:Person
81 sg:person.014657451437.59 schema:affiliation https://www.grid.ac/institutes/grid.412339.e
82 schema:familyName Yamada
83 schema:givenName Takaaki
84 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014657451437.59
85 rdf:type schema:Person
86 sg:person.015455032037.26 schema:affiliation https://www.grid.ac/institutes/grid.412339.e
87 schema:familyName Watanabe
88 schema:givenName Keigo
89 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015455032037.26
90 rdf:type schema:Person
91 sg:person.07350617357.34 schema:affiliation https://www.grid.ac/institutes/grid.412339.e
92 schema:familyName Han
93 schema:givenName Fuhua
94 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.07350617357.34
95 rdf:type schema:Person
96 https://doi.org/10.1109/41.31495 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061168934
97 rdf:type schema:CreativeWork
98 https://doi.org/10.1109/70.313098 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061216097
99 rdf:type schema:CreativeWork
100 https://doi.org/10.1109/70.481750 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061216250
101 rdf:type schema:CreativeWork
102 https://doi.org/10.1109/70.499820 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061216280
103 rdf:type schema:CreativeWork
104 https://doi.org/10.1109/kes.1998.725827 schema:sameAs https://app.dimensions.ai/details/publication/pub.1093455389
105 rdf:type schema:CreativeWork
106 https://doi.org/10.1109/robot.1995.525546 schema:sameAs https://app.dimensions.ai/details/publication/pub.1093387572
107 rdf:type schema:CreativeWork
108 https://doi.org/10.7210/jrsj.13.249 schema:sameAs https://app.dimensions.ai/details/publication/pub.1042470235
109 rdf:type schema:CreativeWork
110 https://doi.org/10.7210/jrsj.15.1139 schema:sameAs https://app.dimensions.ai/details/publication/pub.1019882938
111 rdf:type schema:CreativeWork
112 https://doi.org/10.7210/jrsj.17.51 schema:sameAs https://app.dimensions.ai/details/publication/pub.1044290001
113 rdf:type schema:CreativeWork
114 https://www.grid.ac/institutes/grid.412339.e schema:alternateName Saga University
115 schema:name Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, 840-8502, Saga, Japan
116 Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, 1-Honjomachi, 840-8502, Saga, Japan
117 Faculty of Engineering Systems and Technology, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, 840-8502, Saga, Japan
118 rdf:type schema:Organization
 




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


...