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Wave-transmitting method for a travelling-wave-type omnidirectional mobile robot

Masashi Konno (Department of Science and Engineering, Chuo University, Tokyo, Japan)
Yutaka Mizota (Department of Science and Engineering, Chuo University, Tokyo, Japan)
Taro Nakamura (Department of Science and Engineering, Chuo University, Tokyo, Japan)

Industrial Robot

ISSN: 0143-991x

Article publication date: 19 January 2015

Abstract

Purpose

This paper aims to develop a wave-transmitting mechanism for a travelling-wave-type omnidirectional mobile robot. Existing omnidirectional mechanisms are prone to movement instability because they establish a small contact area with the ground. The authors have developed a novel omnidirectional mobile robot that achieves stable movement by a large ground-contact area. The proposed robot moves by a wave-transmitting mechanism designed for this purpose.

Design/methodology/approach

To achieve stable movement, a spiral-type travelling-wave-propagation mechanism that mimics the locomotion mechanism of a snail was developed. The mechanism was applied to an omnidirectional mobile robot.

Findings

The practicality of magnetic attraction was verified in experiments of the wave-transmitting mechanism. Moreover, omnidirectional movement was confirmed in a robot prototype adopting this mechanism.

Research limitations/implications

The proposed robot will eventually be deployed in human spaces such as factories and hospitals. A mechanically improved version of the robot will be evaluated in load-driving experiments and equipped with control systems.

Originality/value

This paper proposes an omnidirectional mobile robot with a large ground contact area that moves by continuous travelling waves. The practicability of this mechanism was experimentally confirmed, and a prototype robot achieved omnidirectional movement.

Keywords

Citation

Konno, M., Mizota, Y. and Nakamura, T. (2015), "Wave-transmitting method for a travelling-wave-type omnidirectional mobile robot", Industrial Robot, Vol. 42 No. 1, pp. 19-24. https://doi.org/10.1108/IR-10-2014-0401

Publisher

:

Emerald Group Publishing Limited

Copyright © 2015, Emerald Group Publishing Limited