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.
New wheel control system for the omnidirectional HERMIES-III robot
1991
43 pages
Report
No indication
English
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