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A new wheel control system for the omnidirectional HERMIES-III robot

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1 Author(s)
Reister, D.B. ; Oak Ridge Nat. Lab., TN, USA

A new wheel control system for the HERMIES-III robot has been designed, built, and tested. 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 the motion of the robot. The architecture, wheel driver and reckoner, and wheel controller are discussed in detail, and the current status of the system is given

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991