Title :
Omnidirectional mobile base OK-II
Author :
Jung, Myung-Jin ; Kim, Heung-Soo ; Kim, Sinn ; Kim, Jong-Hwan
Author_Institution :
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
Abstract :
OmniKity-II (OK-II) is a mobile base which is developed as an omnidirectional mobile robot. In this paper the structure of OK-II including actuators, vision and infrared sensors is described. As an application shooting behavior in robot soccer is demonstrated. Fuzzy logic controller from the authors´ previous result is used for the shooting action control. The omnidirectional mobility makes the motion control much easier as shown in the experimental results
Keywords :
actuators; fuzzy control; infrared detectors; mobile robots; motion control; robot vision; OmniKity-II; actuators; fuzzy control; infrared sensors; mobile base; motion control; omnidirectional mobile robot; robot vision; Actuators; Equations; Fuzzy logic; Manipulators; Mobile robots; Motion control; Robot kinematics; Robot sensing systems; Robot vision systems; Sensor phenomena and characterization;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.845260
