Abstract
Manipulation of the omni-directional mobile robot is more complicated when compared with the manipulation of a general mobile robot which is controlled by two degrees of freedom. By the reason that the manipulation of the omni-directional mobile robot is required three degrees of freedom controlling, we have developed a new control device for this mobile robot which can be operated by a human’s foot via the spherical pedal control device, not by hands. Through operating the spherical pedal or a new control device, operators can use their hands for another task. At this point, by rotating the spherical pedal control device in each axis direction is possible to control the robot’s three degrees of freedom motion, the velocity vector, and the angular velocity around its body.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Li, X., Zell, A.: Motion Control of an Omnidirectional Mobile Robot. In: Filipe, J., Cetto, J.A., Ferrier, J.L. (eds.) Informatics in Control, Automation and Robotics, Lecture Notes in Electrical Engineering Book Series, vol. 24. Springer, Heidelberg (2009). https://doi.org/10.1007/978-3-540-85640-5_14
Qian, J., Zi, B., Wang, D., Ma, Y., Zhang, D.: The design and development of an omni-directional mobile robot oriented to an intelligent manufacturing system. Sensors 17(9), 2073 (2017)
Ma, S., Ren, C., Ye, C.: An omnidirectional mobile robot: concept and analysis. In: 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 920–925. IEEE, Guangzhou (2012)
Al Mamun, M.A., Nasir, M.T., Khayyat, A.: Embedded system for motion control of an omnidirectional mobile robot. IEEE Access 6, 6722–6739 (2018). https://doi.org/10.1109/ACCESS.2018.2794441
Song, J.-B., Byun, K.-S.: Design and control of a four-wheeled omnidirectional mobile robot with steerable omnidirectional wheels. J. Robot. Syst. 21, 193–208 (2004). https://doi.org/10.1002/rob.v21:4
Kumai, Y., Sugimoto, R., Muramatsu, S., Inagaki, K.: A servo module with DC motor for education and R&D in robotics. In: 2020 13th International Conference on Human System Interaction (HSI), pp.257–280 (2020). https://doi.org/10.1109/HSI49210.2020.9142683
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Siriwattanalerd, T., Sugimoto, R., Muramatsu, S., Inagaki, K. (2022). The Spherical Pedal Control Device for Omni-Directional Mobile Robot Manipulation. In: Chugo, D., Tokhi, M.O., Silva, M.F., Nakamura, T., Goher, K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_5
Download citation
DOI: https://doi.org/10.1007/978-3-030-86294-7_5
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-86293-0
Online ISBN: 978-3-030-86294-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)