Holonomic Omnidirectional Vehicle with Ball Wheel Drive Mechanism and Application to RoboCup Soccer Middle Size League

DOI 3 Citations
  • ISHIDA Shuichi
    Measurement Solution Research Center, National Institute of Advanced Industrial Science and Technology (AIST) Graduate School of Life Science and Systems Engineering, KyushuInstitute of Technology
  • SHIMPUKU Noriyuki
    Graduate School of Life Science and Systems Engineering, KyushuInstitute of Technology
  • ISHII Kazuo
    Graduate School of Life Science and Systems Engineering, KyushuInstitute of Technology
  • MIYAMOTO Hiroyuki
    Graduate School of Life Science and Systems Engineering, KyushuInstitute of Technology

Bibliographic Information

Other Title
  • 球体駆動式全方向移動機構とロボカップサッカー中型ロボットリーグへの応用

Abstract

In this paper, we present a mechanical design of the holonomic omnidirectional vehicle using ball wheels for RoboCup Soccer Middle Size League (MSL). Most MSL team robots use the omni wheels, which have a lot of free rollers on the circumference of a wheel, to realize the omnidirectional motions. Omni wheels are easily implementable device, whereas they have drawbacks such as lack of moving stability due to the changes of friction or steps on the surface and their usable environment is limited. In order to play the games on a completely flat surface, we spread enough plates under the field carpet in MSL. Our aim is to overcome these drawbacks and develop actual prototypes for practical application not only for MSL. We evaluate the ability and accuracy of the prototype of omnidirectional vehicle using ball wheels.

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Details

  • CRID
    1390282680163884288
  • NII Article ID
    130004491926
  • DOI
    10.3156/jsoft.26.669
  • ISSN
    18817203
    13477986
  • Text Lang
    ja
  • Data Source
    • JaLC
    • Crossref
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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