A stick-slip omnidirectional powertrain for low-cost swarm robotics: Mechanism, calibration, and control

We present an omnidirectional powertrain for swarm robotic platforms that relies on low-cost vibration motors.We describe a mechanism and controller to achieve full 3-DoF motion on the plane. The proposed approach does not require the motors to be in phase, and overcomes differences in manufacturing...

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Published inProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 846 - 851
Main Authors Klingner, John, Kanakia, Anshul, Farrow, Nicholas, Reishus, Dustin, Correll, Nikolaus
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2014
Subjects
Calibration
DC motors
Force
Legged locomotion
Robot kinematics
Vibrations
Online AccessGet full text
ISSN2153-0858
DOI10.1109/IROS.2014.6942658

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Abstract We present an omnidirectional powertrain for swarm robotic platforms that relies on low-cost vibration motors.We describe a mechanism and controller to achieve full 3-DoF motion on the plane. The proposed approach does not require the motors to be in phase, and overcomes differences in manufacturing by a hardware-in-the-loop auto-calibration routine based on the Nelder-Mead algorithm, which issues motion commands via infrared and records the resulting trajectories using an off-the-shelf webcam. We show convergence results of the calibration routine and sample trajectories of the swarm robotic platform "Droplet" demonstrating turning and omnidirectional drive.
AbstractList We present an omnidirectional powertrain for swarm robotic platforms that relies on low-cost vibration motors.We describe a mechanism and controller to achieve full 3-DoF motion on the plane. The proposed approach does not require the motors to be in phase, and overcomes differences in manufacturing by a hardware-in-the-loop auto-calibration routine based on the Nelder-Mead algorithm, which issues motion commands via infrared and records the resulting trajectories using an off-the-shelf webcam. We show convergence results of the calibration routine and sample trajectories of the swarm robotic platform "Droplet" demonstrating turning and omnidirectional drive.
Author Reishus, Dustin
Kanakia, Anshul
Farrow, Nicholas
Klingner, John
Correll, Nikolaus
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  email: Nikolaus.Correll@colorado.edu
  organization: Dept. of Comput. Sci., Univ. of Colorado at Boulder, Boulder, CO, USA
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Snippet We present an omnidirectional powertrain for swarm robotic platforms that relies on low-cost vibration motors.We describe a mechanism and controller to achieve...
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StartPage 846
SubjectTerms Calibration
DC motors
Force
Legged locomotion
Robot kinematics
Vibrations
Title A stick-slip omnidirectional powertrain for low-cost swarm robotics: Mechanism, calibration, and control
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