{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,12]],"date-time":"2025-01-12T09:10:18Z","timestamp":1736673018672,"version":"3.32.0"},"reference-count":22,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2006,12,11]],"date-time":"2006-12-11T00:00:00Z","timestamp":1165795200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2007,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper develops a controller for position tracking of a new ball wheel drive mechanism for a robust omnidirectional wheeled mobile platform, an adaptive controller with physical parameter estimation. This platform, integrated with a manipulator, is designed for use in highway maintenance and construction, which is a generally unstructured and congested environment. The proposed ball wheel mechanism can move in all directions on the plane, instantaneously and isotropically. Reconfiguration of the redundant drive system of the ball wheel mechanism is accomplished by altering the contact pressure between the drive wheels and the sphere based on platform heading direction. The system redundancy is resolved through a Weighted Optimal Torque Distribution method allowing for smooth reconfiguration. Finally, experimental and simulation results demonstrate the effectiveness of the approach.<\/jats:p>","DOI":"10.1017\/s0263574706003158","type":"journal-article","created":{"date-parts":[[2006,12,11]],"date-time":"2006-12-11T12:46:10Z","timestamp":1165841170000},"page":"385-395","source":"Crossref","is-referenced-by-count":17,"title":["Control of a redundant, reconfigurable ball wheel drive mechanism for an omnidirectional mobile platform"],"prefix":"10.1017","volume":"25","author":[{"given":"Young-Chul","family":"Lee","sequence":"first","affiliation":[]},{"given":"Danny V.","family":"Lee","sequence":"additional","affiliation":[]},{"given":"Jae H.","family":"Chung","sequence":"additional","affiliation":[]},{"given":"Steven A.","family":"Velinsky","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2006,12,11]]},"reference":[{"key":"S0263574706003158_ref15","first-page":"8","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Sordalen","year":"1994"},{"key":"S0263574706003158_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/70.313098"},{"key":"S0263574706003158_ref8","doi-asserted-by":"publisher","DOI":"10.1115\/1.1434270"},{"key":"S0263574706003158_ref11","doi-asserted-by":"publisher","DOI":"10.1177\/02783640022067977"},{"key":"S0263574706003158_ref17","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9781139171731"},{"key":"S0263574706003158_ref14","doi-asserted-by":"crossref","first-page":"53","DOI":"10.1109\/37.887449","article-title":"A six-wheeled omnidirectional autonomous mobile robot","volume":"20","author":"Moore","year":"2000","journal-title":"IEEE Control Syst. Mag."},{"key":"S0263574706003158_ref7","doi-asserted-by":"publisher","DOI":"10.1115\/1.2826230"},{"key":"S0263574706003158_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1996.509271"},{"key":"S0263574706003158_ref1","unstructured":"1. Muir P. and Neuman C. , \u201cKinematic modeling for feedback control of an omnidirectional wheeled mobile robot,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Raleigh, North Carolina (1987) pp. 1772\u20131778."},{"key":"S0263574706003158_ref13","doi-asserted-by":"crossref","unstructured":"13. Kanayama Y. J. \u201cRotary vehicle that moves with three degrees of freedom,\u201d Proceedings of the International Conference on Advanced Robotics, Monterey, CA (1997) pp. 713\u2013718.","DOI":"10.1109\/ICAR.1997.620260"},{"key":"S0263574706003158_ref18","doi-asserted-by":"publisher","DOI":"10.1115\/1.1517560"},{"key":"S0263574706003158_ref22","first-page":"427","volume-title":"Linear and Nonlinear Programming","author":"Nash","year":"1996"},{"key":"S0263574706003158_ref19","unstructured":"19. Fierro R. and Lewis F. L. , \u201cControl of a nonholonomic mobile robot: Backstepping kinematics into dynamics,\u201d Proceedings of the IEEE Conference on Decision and Control, New Orleans, LA (1995) pp. 3805\u20133810."},{"key":"S0263574706003158_ref4","unstructured":"4. Asama H. , Sato M. , Bogoni L. , Kaetsu H. , Mitsumoto A. and Endo I. , \u201cDevelopment of an omni-directional mobile robot with 3 DOF decoupling drive mechanism,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Nagoya, Aichi, Japan (1995) pp. 1925\u20131930."},{"key":"S0263574706003158_ref9","unstructured":"9. Ferriere L. and Raucent B. , \u201cROLLMOBS, a new universal wheel concept,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Leuven, Belgium (1998) pp. 1877\u20131882."},{"key":"S0263574706003158_ref6","first-page":"720","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Byun","year":"2002"},{"key":"S0263574706003158_ref16","doi-asserted-by":"crossref","unstructured":"16. Lee Y. C. , Lee D. V. , Chung J. H. and Velinsky S. A. , \u201cDesign and verification of an adaptive control algorithm for a redundantly actuated omnidirectional mobile platform,\u201d Proceedings of the ASME International Design Engineering Technical Conferences, (2006).","DOI":"10.1115\/DETC2006-99180"},{"key":"S0263574706003158_ref2","unstructured":"2. Nagatani K. , Tachibana S. , Sofne M. and Tanaka Y. , \u201cImprovement of odometry for omnidirectional vehicle using optical flow information,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan (2000) pp. 468\u2013473."},{"key":"S0263574706003158_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/9.14411"},{"key":"S0263574706003158_ref10","unstructured":"10. Wada M. and Mori S. , \u201cHolonomic and omnidirectional vehicle with conventional tires,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, MN (1996) pp. 3671\u20133676."},{"key":"S0263574706003158_ref21","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600303"},{"key":"S0263574706003158_ref12","doi-asserted-by":"publisher","DOI":"10.1115\/1.1767181"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574706003158","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,12]],"date-time":"2025-01-12T08:50:49Z","timestamp":1736671849000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574706003158\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2006,12,11]]},"references-count":22,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2007,7]]}},"alternative-id":["S0263574706003158"],"URL":"https:\/\/doi.org\/10.1017\/s0263574706003158","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2006,12,11]]}}}