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hermies-iii robot

Robotica (1)

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A new wheel control system for the omnidirectional HERMIES-III robot *
D. B. Reister
Journal:

Robotica / Volume 10 / Issue 4 / July 1992

Published online by Cambridge University Press:

09 March 2009, pp. 351-360
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We have designed, built, and tested a new wheel control system for the HERMIES-III robot. HERMIES-III is a large mobile robot with omnidirectional steering that is designed for human scale experiments. During each cycle (at 20 Hz), the wheel control system moves the robot toward a goal and calculates the current position of the robot. The system has seven modes for moving to a goal and the goal may be changed during motion of the robot.