Development of a Omni-directional Self-Balancing Robot Wheelchair

Development of a Step-climbing Omni-directional Mobile Robot

In this paper, we purpose a new holonomic omni-directional mobile robot that can move on not only flat floors but also uneven environment. A prototype robot can move in omni-direction, run on the uneven floors and slopes, and pass over large steps. The robot has seven universal wheels that have twelve cylindrical free rollers. We adopt a passive suspension system that enable the robot to change...

A Directional Identification Method Based on Position and Posture of Head for an Omni-directional Mobile Wheelchair Robot

Control of Omni-Directional Mobile Robot Motion

This paper presents the motion programming and control of omni-directional mobile robot through the process of building and programming a small robotic platform with secondary design criteria of modularity and simplified control. This is accomplished by combining the positive aspects of several different robotics platform ideas. The platform is shaped like an equilateral triangle with a servo m...

Navigation with Comfort of Omni-directional Wheelchair Driven by Joystick

Wheelchairs are the most common used device in order to allow elderly and handicapped people more independence and greater interaction in their communities. The purpose of this research is to control the motion of an Omnidirectional Mobile Wheelchair (OMW) while considering user’s comfort. A human model is built for evaluating the proposed controller, considering that the human upper body consi...

Omni-directional Vision for Robot Navigation

We describe a method for visual based robot navigation with a single omni-directional (catadioptric) camera. We show how omni-directional images can be used to generate the representations needed for two main navigation modalities: Topological Navigation and Visual Path Following. Topological Navigation relies on the robot’s qualitative global position, estimated from a set of omni-directional ...