The Spherical Pedal Control Device for Omni-Directional Mobile Robot Manipulation

Manipulation of the omni-directional mobile robot is more complicated when compared with the manipulation of a general mobile robot which is controlled by two degrees of freedom. By the reason that the manipulation of the omni-directional mobile robot is required three degrees of freedom controlling, we have developed a new control device for this mobile robot which can be operated by a human’s foot via the spherical pedal control device, not by hands. Through operating the spherical pedal or a new control device, operators can use their hands for another task. At this point, by rotating the spherical pedal control device in each axis direction is possible to control the robot’s three degrees of freedom motion, the velocity vector, and the angular velocity around its body.