Hostname: page-component-78c5997874-94fs2 Total loading time: 0 Render date: 2024-11-14T21:26:49.319Z Has data issue: false hasContentIssue false
  • English
  • Français

A new wheel control system for the omnidirectional HERMIES-III robot*

Published online by Cambridge University Press:  09 March 2009

D. B. Reister
D. B. Reister
Affiliation:
Center for Engineering Systems Advanced Research, Oak Ridge National Laboratory, P.O. Box 2008, Building 6025, M S-6364, Oak Ridge, TN 37831–6364 (USA)
Get access Rights & Permissions [Opens in a new window]

Summary

We have designed, built, and tested a new wheel control system for the HERMIES-III robot. HERMIES-III is a large mobile robot with omnidirectional steering that is designed for human scale experiments. During each cycle (at 20 Hz), the wheel control system moves the robot toward a goal and calculates the current position of the robot. The system has seven modes for moving to a goal and the goal may be changed during motion of the robot.

Keywords

Hermies-III robotControl systemOmnidirectional
Type
Article
Information
Robotica , Volume 10 , Issue 4 , July 1992 , pp. 351 - 360
Copyright
Copyright © Cambridge University Press 1992

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Weisbin, C.R. et al. , “HERMIES-III: A step toward autonomous mobility, manipulation, and perception,” Robotica 8, part 1, 7–12 (1990).Google Scholar
2.Jansen, J.F. and Kress, R.L., “Analysis and Control of a Three-Degree-of-Freedom Robot Platform,” J. Mechanical Working Technology 20, 295–304 (1989).Google Scholar
3.Press, W.H. et al. , Numerical Recipes in C: The Art of Scientific Computing (Cambridge University Press, Cambridge, UK, 1988).Google Scholar
4.Kankaanranta, R.K. and Koivo, H.N., “Dynamics and Simulation of Compliant Motion of a Manipulator,” IEEE J. Robotics and Automation, 4, 163–173 (1988).Google Scholar