Agile Omnidirectional Mobile Robot for Human Environments
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- Опубликовано: 1 апр 2021
- Agile Omnidirectional Mobile Robot with Gravity Compensated Wheel-Leg Mechanisms for Human Environment
- Changeable supporting polygon with a small footprint like humans.
- Holonomic omnidirectional mobile robot with wheel-leg mechanisms
- 4 mecanum wheels with gravity compensated 2-DOF legs
% Submitted to IEEE IROS2021 and RA-L
% Supported by NAVER LABS 
Наука
My favorite robot channel after boston dynamics.
You people are underrated.
Mecanum wheels are very underrated devices. We use them in our high school robotics competition and i am very inspired to see this advanced application.
This is awesome, looks like the spider tank from ghost in the shell
The first original or the reboot?
Incredible design, I can’t wait to see this project come together.
The secret chamber of bleeding edge technology. Love it
Thank you for sharing.
Ooo. Very nice! Keep up the nice work on it!
This is a robot that fits its definition! Awesome stuff.
Great design...never thought of using parallels :)
Looks Great!
Phenomenal control-design and engineering work upon your entire channel. Something like this with active rocker-boogie mechanism would essentially be able to move over pretty much any conceivable terrain, wouldn't it?
Wow that's some impressive engineering, will say I don't think robots need faces, usually has a negative effect on people unfamiliar to robots
This is one of my favorite robots.👍🙂👍
Simply amazing.
True art guys. nice work. use it for good!
imagine seeing these, but fully developed warmachines patroling the streets...
incredible
no way. hahahha you are more and more close to my dream. I need to work on it before you make it all.
good job
Congratulation
This video reminds me I should do some stretching today. ;)
The only problem is that the neighbors from the floor below will hate you.
Супер надо будет заделать самому
Can't wait to see LIMS2 on top of this
Is that thems awesome arms and stuff
Would be nice for human environments if mecanum wheels weren't so loud
Очень не плохо.
This things looking like it would destroy some toes.
Awesome! What about climbing stairs?
It looks like it'd be able to climb stairs, though very slowly, with a different program. The step program involves driving to reposition the body above a step, but with stairs it would need to move it's body without driving forward to do so. The only potential issue would be the legs interfering with the steps, though a resign to incorporate arched legs would probably fix this. Alternatively, using a walking gait of standing on opposite corners may work, where front left and back right wheels are planted while the front right and back left wheels are repositioned to step up stairs, this same gait would also be useful for a single step and would be much faster; the fact that each leg can pivot makes this gait much more possible, especially in initial and final steps, as the robot can have three points of contact while one leg is lifted onto or off of the initial or final step. Though, this is ultimately reliant on how heavy and dynamic the full robot is, not just the driven platform, as weight shifting can entirely null this solution; but at the same time, a hexapod or octopod variant of this wouldn't have such severe limitations, or the implementation of a mid-leg 'knee' joint may alleviate some of the unforeseeable balancing issues depending on overall flexibility of the leg and range of wheel positions.
First of all this is brilliant.
How many degrees of freedom? and what type of motors have you used?
After testing do you think that Omni wheels are suitable for stairs climbing or not?
12-DOF including wheels. BLDC. Special strategy and structure are essential for Omni-wheels to climb stairs.
👍🏆👍
Could you please tell me how I can access your papers?
When are you gonna be mounting the upper half?
А как к вам на работу устроится? У меня мозги кипят от идей.
Tachikoma!
Looks like the batmobile
Do you can share mechanical drawings?
mecanuum wheel has alot of vibration
Что за машини у них стоят?
Please give details about this robot
Omniwheels are so loud...
Soon it will be go "code geass".
The saying don't try to re-invent the wheel is definitely bull shit..
It needs 8 legs, for conquering steps and stairs.
Someone has watched way too much anime.
미쳤다리 테슬라에 당장 가야 하는거 아님?