Design and Development of a Dynamically-Balancing Holonomic Robot

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Title: Design and Development of a Dynamically-Balancing Holonomic Robot
Author: Reynolds-Haertle, Saul ; Stilman, Mike
Abstract: This paper describes the design, control, and construction of Golem Wing, the first vehicle which both balances dynamically and has entirely holonomic ground movement. A nonstandard linear arrangement of mecanum wheels gives it the load-lifting, performance, and manipulation benefits of a dynamically-balancing platform without the maneuvering difficulties exhibited by previous balancing platforms. We show that the arrangement is capable of holonomic motion, describe a controller that maintains dynamic balance during holonomic motion, and show an implementation of the system in hardware that validate our assertions.
Type: Technical Report
Date: 2011
Contributor: Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Relation: GT-GOLEM-2011-005
Publisher: Georgia Institute of Technology
Subject: Manipulation

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