Developments of Omni-directional Mobile Systems with Intuitive Operation for Care-Robots

We proposed an unique intuitive movement system which is equipped Omni-wheels with load cells for care-robots. In this systems, pilot or subjects can cotrol ituitively with difference of centroid position with load cells. This systems is constructed a cylinder structure stacking a disk on a triangular frame and installed 3 load cells and Omni-wheels. These load cells sensed position and centroid is calculated by microcomputer. This sensed centroid position is applied for calculating direction and speed and these information transferred to servo systems installed Omni-wheels. The system was investigated with transient response characteristics and error distance of centroid of the system. Transient response measurement of the servo system were under no-load or 60 kg loaded condition respectively. We observer that the system were possible to move under 60 kg load. Moreover, we cleared suitable rotating speed. Via the measuring error distance of centroid under loads, The maximum error distance was possible to operate accurately under heavy load like 60 kg human. We expect this Omni-directional mobile systems with intuitive operation is possible to be expected, novel and unique as novel care-robots technology.