A Study on Active Wheel Level Control of Robots with Steering Moving Omnidirectionally

Abstract

This paper a study of a vehicle that goes over small objects by indoor. Recently, the robot industry market has spread. Among them, many companies advancing the introduction and utilization of service robots purpose to the substitution of human work. Consequently, only 60% answered that they were achieved results. The reason for the low results is that conventional robots do not have enough size, traveling performance and positioning accuracy. In this study, after examining the robot implementation and the conventional robot, we aim at the one that functions sufficiently the size, traveling performance and omnidirectional movement within the indoor environment. To this end, we propose a vehicle that can move in omnidirectional and can move each foot independently in the vertical direction. In the experiment of this study, a distance sensor was attached to the foot to detect the front floor height. When the floor height fluctuated, it was considered that there were small objects, and the foot was raised according to the height of them, and they were gone over. As a result, the sensor could detect small objects and realize the going over action. In the future, we aim to realize autonomous driving by combining it with the technology of omnidirectional movement.