Xu, “Omnidirectional Steering Interface and Control for a Four-Wheel Independent Steering Vehicle,” IEEE/ASME Trans. Yi, “Motion and Internal Force Control for Omnidirectional Wheeled Mobile Robots,” IEEE/ASME Trans. Costa, “Practical Approach of Modeling and Parameters Estimation for Omnidirectional Mobile Robots,” IEEE/ASME Trans. Endo, “Development of an Omni-Directional Mobile Robot with 3 DOF Decoupling Drive Mechanism,” Proc. Data files: BIB TEX (BibDesk, LaTeX) RIS (EndNote, Reference Manager, etc) TEXT References Aoyama, “Compact USB Camera-Based Navigation Device with Repetitive Compensation of Input Signals for Omnidirectional Inchworm Robot,” Int. The design procedure to realize flexible and omnidirectional positioning and basic performance are also discussed.įull text (2.7MB) (free) Cite this article as: O. As the navigation device is also compact, we can carry the device easily and set it up in a small work area. The robot is 35 mm 3, so we can attach it to various devices. When we compensate the input signal, the positioning time decreases to 62.9% of that when there is no compensation. In experiments, we have succeeded in controlling the robot on an octagonal path, freely controlling the posture angle. In this report, we propose a USB camera-based navigation device with a signal compensation function. However, many positioning errors exist because of an assembling error in four piezoelectric actuators and two electromagnets. The robot can move in any direction in the manner of an inchworm. The robot has been developed to provide flexible and omnidirectional microscopic operations. In this paper, we describe the design and development of a navigation device for a 3-DOF inchworm robot. Keywords: omnidirectional, inchworm, piezoelectric actuator, visual feedback, compensation Abstract
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