A New Family of Omnidirectional and Holonomic Wheeled Platforms for Mobile Robots

Francois G. Pin; Stephen M. Killough

doi:10.1109/70.313098

A New Family of Omnidirectional and Holonomic Wheeled Platforms for Mobile Robots

Francois G. Pin, Stephen M. Killough

RF and Intelligent Systems

Research output: Contribution to journal › Article › peer-review

330 Scopus citations

Abstract

This paper presents the concepts for a new family of holonomic wheeled platforms that feature full omnidirectionality with simultaneous and independently controlled rotational and translational motion capabilities. We first present the “orthogonal-wheels” concept and the two major wheel assemblies on which these platforms are based. We then describe how a combination of these assemblies with appropriate control can be used to generate an omnidirectional capability for mobile robot platforms. Several alternative designs are considered, and their respective characteristics with respect to rotational and translational motion control are discussed. The design and control of a prototype platform developed to test and demonstrate the proposed concepts is then described, and experimental results illustrating the full omnidirectionality of the platform with decoupled rotational and translational degrees of freedom are presented.

Original language	English
Pages (from-to)	480-489
Number of pages	10
Journal	IEEE Transactions on Robotics and Automation
Volume	10
Issue number	4
DOIs	https://doi.org/10.1109/70.313098
State	Published - Aug 1994

Funding

Manuscript received September 9, 1992; revised January 28. 1994. This work was supported by the Offcc of Engineering Research Program. Basic Energy Science, oT the U.S. Department of Energy, under Contract DE-ACOS- 840R21400, with Martin Marietta Energy Systems, Inc. A patent has been applied for for some of the systems described in this paper.

Funders	Funder number
U.S. Department of Energy	DE-ACOS- 840R21400
Basic Energy Sciences

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A New Family of Omnidirectional and Holonomic Wheeled Platforms for Mobile Robots

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