Omnidirectional mobile robot device, and object transport system and method using the same

Omnidirectional Mobile Robot Device

This technology utilizes 1-axis force sensors placed on each link connecting the top and bottom plates of a Stewart platform structure to calculate multi-axis force/torque data, enabling collaborative driving and internal force control among multiple mobile robots.

Conventional single mobile robots are limited in payload capacity and size, making them inefficient for transporting large or irregularly shaped objects and creating an economic burden by requiring the acquisition of separate, larger robots.

This technology configures multiple mobile robots in a master-slave structure and calculates the 1-axis force sensor data (summed force and torque values) from each robot's Stewart platform links in real-time. It then adjusts and controls the driving speed of individual robots using force control and force-velocity algorithms. Applicable to logistics, service robots, and autonomous driving platforms, it enhances the efficiency of object transport, particularly in e-commerce and warehouse management, by reducing unnecessary costs and resource usage.

‍

‍

Key Features:

• Master mobile robot including a first sensor
• Slave mobile robot that transmits compression and tension force data acquired by a second sensor to the master and operates accordingly
• 1-axis force sensors placed on each link of the Stewart platform connecting the bottom and top plates
• Master robot calibrates the driving speeds of both robots to match the target speed using force control and force-velocity algorithms

‍

This invention was developed with support from the Ministry of Science, ICT and Future Planning for research on neural robot technology based on physical and cognitive interaction.