In the field of mobile robotics, research projects are continuously aiming at developing drive trains and kinematic concepts for autonomous robotic devices. Some designs that make use of 2 DOF (Degrees Of Freedom) are already well established, while there has been the odd occurrence of omni-directional drives in various arrangements. As part of the project 'Sustainable Planning, Construction and Living in the Information Age', Forschungszentrum Karlsruhe is currently developing a robotic device called KASPER (Karlsruhe Assistant Service Personal Robot). A key issue in the development process of this robot, which is designed to serve the elderly, is the implementation of a drive concept that allows both pure 2-DOF differential-drive and 3-DOF omni-directional motion with standard wheels. The drive modules of KASPER are described.
Lateral-offset-steering drive modules of the KASPER robot
Antriebsmodule des KASPER-Roboters für die seitliche Bewegung
2006
14 Seiten, 11 Bilder, 13 Quellen
(+ 13 S. pdf-Datei)
Aufsatz (Konferenz)
Englisch
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