Title

An Autonomous Omnidirectional Robot

Document Type

Article

Publication Date

12-2010

Publication Source

Journal of Robotics

Volume

Article ID 857594

DOI

http://dx.doi.org/10.1155/2010/857594

Publisher

Hindawi Publishing Corporation

Place of Publication

United States

ISBN/ISSN

1687-9600

Peer Reviewed

yes

Abstract

RoboCup is an international research and education initiative, which aims to foster artificial intelligence and robotics research by using competitive soccer as a standard problem. This paper presents a detailed engineering design process and the outcome for an omni-directional mobile robot platform for the Robocup Middle Size League competition. A prototype that can move omnidirectionally with kicking capability was designed, built, and tested by a group of senior students. The design included a mechanical base, pneumatic kicking mechanism, a DSP microcontroller-based control system, various sensor interfacing units, and the analysis of omnidirectional motions. The testing results showed that the system was able to move omnidirectionally with a speed of ~2 m/s and able to kick a size 5 FIFA soccer ball for a distance of at least 5 meters.

Disciplines

Engineering

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