Künstliche Intelligenz

KI Konferenz

KI Fachbereich

Böttcher IT Verlag

Heft 2/06

Schwerpunkt: RoboCup

Holonic Control of a robot with an omnidirectional drive


This paper shows how to control a robot with omnidirectional wheels, using as example robots with four motors, and generalizing to n motors. More than three wheels provide redundancy: many combinations of motors speeds can provide the same Euclidean movement. Since the system is over-determined, we show how to compute a set of consistent and optimal motor forces and speeds using the pseudoinverse of coupling matrices. This approach allows us also to perform a consistency check to determine whether a wheel is slipping on the floor or not. We show that it is possible to avoid wheel slippage by driving the robot with a motor torque under a certain threshold or handle it and make high accelerations possible.


Raul Rojas, Alexandedr Gloye Förster






RoboCup in Bremen 14.-18.6.2006

middle-size league
small-size league

Weitere Fotos des RoboCup 2006 in Bremen finden Sie im RoboCup Pressebereich.
Auch das ZDF stellt zahlreiche Infos, Bilder und Videos zum Robocup 2006 zur Verfügung: www.robocup.zdf.de


Email: info(a)kuenstliche-intelligenz.de