NDLI: Teleoperation of AZIMUT-3, an omnidirectional non-holonomic platform with steerable wheels

Content Provider	IEEE Xplore Digital Library
Author	Ferland, F. Clavien, L. Frémy, J. Létourneau, D. Michaud, F. Lauria, M.
Copyright Year	2010
Description	Author affiliation: Université de Sherbrooke, Québec - Canada (Ferland, F.; Clavien, L.; Frémy, J.; Létourneau, D.; Michaud, F.) \|\| University of Applied Sciences Western Switzerland (HES-SO), Geneva - Switzerland (Lauria, M.)
Abstract	AZIMUT-3 is an omnidirectional non-holonomic (or pseudo-omnidirectional [1]) robotic platform intended for safe human-robot interaction. In its wheeled configuration, shown in Fig. 1, AZIMUT-3 uses eight actuators for locomotion: four for propulsion and four for steering the wheels, which can rotate 180 degrees around their steering axis. Propulsion is done using standard DC brushless motors (Bayside K064050-3Y) with optical encoders (US Digital E4-300-157-HUB, 0.3 deg of resolution), capable of reaching 1.47 m/s. The platform uses steerable wheels motorized using differential elastic actuators (DEA) [2], [3], which provide compliance, safety and torque control capabilities. AZIMUT-3's hardware architecture consists of distributed modules for sensing and low-level control, communicating with each other through a 1 Mbps CAN bus. A Mini-ITX computer equipped with a 2.0 GHz Core 2 duo processor running Linux with real-time patches (RT-PREEMPT) is used on-board for high-level control modules. Nickel-metal hydride batteries provide power to the platform for up to 3 hours of autonomy. A passive vertical suspension mechanism (Rosta springs) is used to connect the wheels to AZIMUT-3's chassis, allowing them to keep contact with the ground on uneven surfaces. The platform has a 34 kg payload capacity and weights 35 kg.
Starting Page	2515
Ending Page	2516
File Size	921979
Page Count	2
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649041
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robot kinematics Wheels Conferences Propulsion Actuators
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Kinematic analysis and singularity robust path control of a non-holonomic mobile platform with several steerable driving wheels

Design of an omnidirectional and holonomic wheeled platform prototype

Featureless omnidirectional vision-based control of non-holonomic mobile robot

Kinematic analysis of an omnidirectional mobile robot with MY wheels

Analysis and Design of a Wheeled Holonomic Omnidirectional Robot

Virtual link model for redundantly actuated holonomic omnidirectional mobile robots

Omnidirectional Control of 4WD Robotic Base

A Study on Swimming Robot

Kinematics modeling and analysis for threewheel omnidirectional mobile robot

Teleoperation of AZIMUT-3, an omnidirectional non-holonomic platform with steerable wheels

Similar Documents

Kinematic analysis and singularity robust path control of a non-holonomic mobile platform with several steerable driving wheels

Design of an omnidirectional and holonomic wheeled platform prototype

Featureless omnidirectional vision-based control of non-holonomic mobile robot

Kinematic analysis of an omnidirectional mobile robot with MY wheels

Analysis and Design of a Wheeled Holonomic Omnidirectional Robot

Virtual link model for redundantly actuated holonomic omnidirectional mobile robots

Omnidirectional Control of 4WD Robotic Base

A Study on Swimming Robot

Kinematics modeling and analysis for threewheel omnidirectional mobile robot

Teleoperation of AZIMUT-3, an omnidirectional non-holonomic platform with steerable wheels