A new wheel control system for the omnidirectional HERMIES-III robot
- 1 July 1992
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 10 (4) , 351-360
- https://doi.org/10.1017/s0263574700008183
Abstract
SUMMARY 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.Keywords
This publication has 3 references indexed in Scilit:
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- Dynamics and simulation of compliant motion of a manipulatorIEEE Journal on Robotics and Automation, 1988