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The mobility concept of care-O-bot 3

: Connette, Christian P.; Parlitz, Christopher; Graf, Birgit; Hägele, Martin; Verl, Alexander

International Federation of Robotics; Robot Research Initiative CNU; Pohang Institute of Intelligent Robotics; Institute of Control, Robotics and Systems -ICROS-:
ISR 2008, 39th International Symposium on Robotics : 15.-17. Oct. 2008, Seoul, Korea
Seoul, Korea, 2008
International Symposium on Robotics (ISR) <39, 2008, Seoul>
Conference Paper
Fraunhofer IPA ()
mobiler Roboter; mobile robot; Serviceroboter; Care-O-Bot; COGNIRON; DESIRe; Roboter

Next generation service robots impose high requirements on the employed mobility concepts. Usage in and manipulation of man-made environments requires high flexibility. The aspect of commercialization puts a limit to available computational performance and acceptable power consumption. Finally, aspects as the robustness on different, changing grounds and uneven terrain have to be considered. This work gives an in-depth view on the omnidirectional, non-holonomic, mobile base of Care-Obot 3. The mechanical structure and the resulting kinematic constraints of the mobile base are addressed. The problem of wheel coordination - intrinsic to the employed kind of mobile base with four steerable standard wheels - and its implications on the applied control method are highlighted. A control scheme - based on a spherical ICM representation - is outlined and the resulting control structure is particularized for the Care-O-bot 3 system.