Cart (Loading....) | Create Account
Close category search window
 

Design and kinematic analysis of a 6DOFs omnidirectional mobile robot for the gesture expression

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
An, Sang-ik ; Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea ; Dong-Soo Kwon

A new 6DOFs omnidirectional mobile robot with three leg-wheel hybrid structures is suggested to perform the human body gestures. The omnidirectional property of the human body is determined by investigating the motion capture data of the human body gestures. The offset between the steering and the wheel axis is inserted to remove the singularity of the leg-wheel hybrid structures and the spherical shape wheel is introduced to simplify the contact problem. The kinematic constraints caused by the contact and no slip conditions are derived in position, velocity and acceleration level and the equations for the desired joint trajectories according to the given body gestures are obtained in two versions, hip-knee coupled and decoupled structure. The results are shown with the human body gestures in the kinematic simulation.

Published in:

ICCAS-SICE, 2009

Date of Conference:

18-21 Aug. 2009

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.