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dc.contributor.authorReynolds-Haertle, Saul
dc.contributor.authorStilman, Mike
dc.date.accessioned2011-10-04T14:11:01Z
dc.date.available2011-10-04T14:11:01Z
dc.date.issued2011
dc.identifier.urihttp://hdl.handle.net/1853/41706
dc.description.abstractThis 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.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.relation.ispartofseriesGT-GOLEM-2011-005en_US
dc.subjectManipulationen_US
dc.subjectRoboticsen_US
dc.titleDesign and Development of a Dynamically-Balancing Holonomic Roboten_US
dc.typeTechnical Reporten_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines


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