{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T02:30:11Z","timestamp":1761964211128,"version":"3.41.2"},"reference-count":16,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2009,3,6]],"date-time":"2009-03-06T00:00:00Z","timestamp":1236297600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2009,3,6]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to present an omni\u2010directional floor\u2010cleaning robot equipped with four omni\u2010directional wheels. The research purposes are to design a robot for cleaning jobs in domestic, narrow and crowded places and to provide a robotics\u2010study platform in a laboratory.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>The robot system using Swedish wheels, one dust collector (brush) switching device and a sort of air\u2010bag sensing device is designed. The kinematics and the motion control conditions of the robot are analyzed. Specifically, a design method of wheels is described.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The configuration of the robot, parameters of the wheel and controlling methods are studied and demonstrated. The smooth locomotion capability and high\u2010working efficiency are verified by experiments.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>The robot can perform its work in semi\u2010autonomous and tele\u2010operated mode. Moreover, the robot can pivot around, avoid obstacles and is provided with automatic power management system.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>The research target is to provide a kind of robotic cleaner especially for crowded public or narrow places and educational robotics\u2010study platform in a laboratory.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910910932612","type":"journal-article","created":{"date-parts":[[2009,2,28]],"date-time":"2009-02-28T07:03:13Z","timestamp":1235804593000},"page":"157-164","source":"Crossref","is-referenced-by-count":12,"title":["Floor\u2010cleaning robot using omni\u2010directional wheels"],"prefix":"10.1108","volume":"36","author":[{"given":"Xueshan","family":"Gao","sequence":"first","affiliation":[]},{"given":"Yan","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Dawei","family":"Zhou","sequence":"additional","affiliation":[]},{"given":"Koki","family":"Kikuchi","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022012820331362500_b14","doi-asserted-by":"crossref","unstructured":"Agllo, J., Cardona, S. and Vivancos, J. 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