Holonomic Omnidirectional Vehicle with Ball Wheel Drive Mechanism and Application to RoboCup Soccer Middle Size League
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- 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
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- SHIMPUKU Noriyuki
- Graduate School of Life Science and Systems Engineering, KyushuInstitute of Technology
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- ISHII Kazuo
- Graduate School of Life Science and Systems Engineering, KyushuInstitute of Technology
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- MIYAMOTO Hiroyuki
- Graduate School of Life Science and Systems Engineering, KyushuInstitute of Technology
Bibliographic Information
- Other Title
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- 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.
Journal
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- Journal of Japan Society for Fuzzy Theory and Intelligent Informatics
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Journal of Japan Society for Fuzzy Theory and Intelligent Informatics 26 (3), 669-677, 2014
Japan Society for Fuzzy Theory and Intelligent Informatics
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Details
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- CRID
- 1390282680163884288
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- NII Article ID
- 130004491926
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- ISSN
- 18817203
- 13477986
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed