We have designed, built, and tested a new wheel control system for the HERMIES-III robot. HERMIES-III is a large mobile robot with omnidirectional steering that is designed for human scale experiments. During each cycle (at 20 Hz), the wheel control system moves the robot toward a goal and calculates the current position of the robot. The system has seven modes for moving to a goal and the goal may be changed during motion of the robot. 4 refs., 13 figs., 1 tab.


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    Title :

    New wheel control system for the omnidirectional HERMIES-III robot


    Contributors:

    Publication date :

    1991


    Size :

    43 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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