TURTLE 8-Wheeled Base

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= Robot Summary =  
 
= Robot Summary =  
As an alternative for the three-wheeled [[TURTLE Base|base]]
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As an alternative for the three-wheeled [[TURTLE Base|base]] [https://msl.robocup.org/ RoboCup Middle Size League] soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels, thus being five  times  over-constrained. To  avoid  an  over-constrained  design,  each  wheel set  has  an  internal  degree  of  freedom. The  last  constraint  is  addressed  by  a hinging  axle  at  the  back  of the  robot. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction.  
 
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TURTLEs are the football robots that compete in the  [https://msl.robocup.org/ RoboCup Middle Size League] for [http://www.tue.nl/en Eindhoven University of Technology].
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* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]
 
* Author: [http://www.tue.nl/en/university/departments/mechanical-engineering/research/research-groups/control-systems-technology/CST Group, TU/e]
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* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]
 
* Simulink Control Implementation: [https://robocup.wtb.tue.nl/svn/techunited/trunk/src/Turtle2/Motion/low_level_control_lib.slx low_level_control_lib.slx]
  
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Contributions in publications about this platform  can be found in
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Houtman W. et al. (2019) [https://link.springer.com/chapter/10.1007/978-3-030-35699-6_42 Tech United Eindhoven Middle-Size League Winner 2019]. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham
  
 
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Douven Y. et al. (2019) [https://link.springer.com/chapter/10.1007%2F978-3-030-27544-0_34 Tech United Eindhoven Middle Size League Winner 2018]. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham
  
  

Revision as of 10:19, 25 March 2020

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TURTLE: Base | Upper Body | Ball Handling and Kicking Mechanism | Goalkeeper | 8-Wheeled Base


Contents


Robot Summary

As an alternative for the three-wheeled base RoboCup Middle Size League soccer robots of Tech United Eindhoven, an eight-wheeled version was designed consisting of four wheel sets, each having two hub-drive wheels, thus being five times over-constrained. To avoid an over-constrained design, each wheel set has an internal degree of freedom. The last constraint is addressed by a hinging axle at the back of the robot. The main advantages compared to the three-wheeled platform are the possibility to apply the torque delivered by the motors in the desired direction in order to achieve a higher acceleration in this direction.

Contributions in publications about this platform can be found in Houtman W. et al. (2019) Tech United Eindhoven Middle-Size League Winner 2019. In: Chalup S., Niemueller T., Suthakorn J., Williams MA. (eds) RoboCup 2019: Robot World Cup XXIII. RoboCup 2019. Lecture Notes in Computer Science, vol 11531. Springer, Cham

Douven Y. et al. (2019) Tech United Eindhoven Middle Size League Winner 2018. In: Holz D., Genter K., Saad M., von Stryk O. (eds) RoboCup 2018: Robot World Cup XXII. RoboCup 2018. Lecture Notes in Computer Science, vol 11374. Springer, Cham


License

Copyright Eindhoven University of Technology 2020.

This documentation describes Open Hardware and is licensed under the CERN OHL v. 1.1.
You may redistribute and modify this documentation under the terms of the CERN OHL v.1.1. (http://ohwr.org/cernohl).
This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY, INCLUDING OF MERCHANTABILITY, SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE. Please see the CERN OHL v.1.1 for applicable conditions.

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