Design Of An Omnidirectional Mobile Robot For Rough Terrain

Abstract

An omnidirectional mobile robot is able, kinematically, to move in any planar direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional robots have considered the case of motion on flat, smooth terrain. This paper presents design constraints and guidelines for designing an omnidirectional mobile robot propelled by active split offset casters to be driven in rough terrain. Geometric constraints on wheel and linkage sizes are presented. The effects of terrain roughness and loss of wheel contact are analyzed. The vehicle design is optimized for kinematic isotropy, ability to maintain ground contact, traversable obstacle height, and maximum traversable distance over four diverse terrain types. The results are contrasted with a baseline design.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 2007
Accession Number
ADA510606

Entities

People

  • Karl Iagnemma
  • Martin Udengaard

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Clayey Soils
  • Control Systems
  • Energy
  • Engineering
  • Environment
  • Geometry
  • Index Terms
  • Information Operations
  • Mobility
  • Navigation
  • Omnidirectional
  • Optimization
  • Orientation (Direction)
  • Resistance
  • Robots
  • Urban Areas

Readers

  • Fluid Mechanics and Fluid Dynamics.
  • Robotics and Automation.
  • Systems Analysis and Design

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy