Design and Development of a Dynamically-Balancing Holonomic Robot

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dc.contributor.author Reynolds-Haertle, Saul
dc.contributor.author Stilman, Mike
dc.date.accessioned 2011-10-04T14:11:01Z
dc.date.available 2011-10-04T14:11:01Z
dc.date.issued 2011
dc.identifier.uri http://hdl.handle.net/1853/41706
dc.description.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. en_US
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.relation.ispartofseries GT-GOLEM-2011-005 en_US
dc.subject Manipulation en_US
dc.subject Robotics en_US
dc.title Design and Development of a Dynamically-Balancing Holonomic Robot en_US
dc.type Technical Report en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines


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