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Practical applications for mobile robots based on Mecanum wheels - a

systematic survey

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 Practical Applications for Mobile Robots based on Mecanum Wheels - A Systematic Survey

PRACTICAL APPLICATIONS FOR MOBILE ROBOTS

BASED ON MECANUM WHEELS - A SYSTEMATIC SURVEY
Florentina Adăscăliţei, Ioan Doroftei
”Gh. Asachi” Technical University of Iasi, Mechanical Engineering Faculty, Theory of Mechanisms and
Robotics Department, B-dul D. Mangeron, 61-63, 700050, Iasi, Romania
E-mail: [email protected], [email protected]

Abstract: In this paper a literature review concerning practical applications for mobile robotic
platforms based on special wheels (in this case, Mecanum wheel) is presented. Mobile robots
equipped with four Mecanum wheels have the omnidirectional property, which means, they have
the ability to move instantaneously in any direction, from any configuration. Therefore, compared
to conventional platforms, these vehicles possess multiple advantages in terms of their mobility in
narrow spaces or crowded environments. They have the ability to easily perform certain tasks in
congested environments foreseen with static obstacles, dynamic obstacles or narrow areas.
Usually, such environments are found in factory workshops, warehouses, hospitals, etc. Hence the
resulting needs to create this kind of robotic platforms to satisfy the requirements of various fields,
such as: industrial, military, naval, medical and last but not least, the educational field (as the basis
for research). The characteristics of the Mecanum wheel, a short comparison between this type of
wheel and a conventional wheel, as well as the constructive and design solutions previously
developed are described in the first part of this paper. Then, some application fields and the
related systems based on Mecanum wheel are presented.

Keywords: Mecanum wheel, omnidirectional mobile robot, AGV

1. Introduction developing new constructive solutions, thus

allowing their implementation in new applications,
Omnidirectional wheels have been used in robotics, such as planetary explorations, mine operations.
in industry, and in logistics for many years. By
reviewing and analyzing systematically the existing 2. Mecanum wheel
literature concerning this type of wheels, it was
revealed that systems based on Mecanum wheels 2.1. Mecanum wheel characteristics
detain omnidirectional capabilities, whereas systems Mecanum wheel was designed and invented in
based on conventional wheels do not. Specifically, Sweden, in 1975, by Bengt Ilon, an engineer with
these capabilities make the vehicle extremely the Swedish company Mecanum AB [1]. Mecanum
maneuverable, which could be very helpful in wheel is based on the principle of a central wheel
different indoor and outdoor applications. Therefore, with a number of rollers placed at an angle around
compared to conventional vehicles, omnidirectional the periphery of the wheel. The angle between
robotic vehicles possess multiple advantages in rollers axis and central wheel axis could have any
terms of their mobility in narrow spaces and value, but in the case of conventional Mecanum
crowded environments. They have the ability to wheel it is 45° (Figure 1). The rollers are shaped
easily perform certain tasks in congested such that the silhouette of the omnidirectional wheel
environments foreseen with static obstacles, is circular. The angled peripheral rollers translate a
dynamic obstacles or narrow areas. Usually, such portion of the force in the rotational direction of the
environments are found in factory workshops, wheel to a force normal to the wheel direction.
warehouses, hospitals, etc. Hence the resulting needs Depending on each individual wheel direction and
to create this kind of robotic platforms to satisfy the speed, the resulting combination of all these forces
requirements of various fields, such as: industrial, produces a total force vector in any desired
military, naval, medical and last but not least, the direction, thus allowing the platform to move freely
educational field. Furthermore, to prevent the in direction of the resulting force vector, without
shortcomings presented by Mecanum wheel, changing the direction of the wheel.
researchers have focused on its optimization, A Swedish omnidirectional wheel has 3 DOF’s

The Romanian Review Precision Mechanics, Optics & Mechatronics, 2011, No. 40 21
 Practical Applications for Mobile Robots based on Mecanum Wheels - A Systematic Survey

composed of wheel rotation, roller rotation and the wheel prevent vehicles using skid-steering from
rotational slip about the vertical axis passing through moving perpendicular to its drive direction. To reach
the point of contact (Figure 2). In the every location and orientation in a two dimensional
omnidirectional wheel, the wheel velocity can be space it can require complicated maneuvers and
divided into the components in the active direction complex path-planning. Non-holonomic vehicles can
and in the passive direction. The active component is move in some directions (forward and backward)
directed along the axis of the roller in contact with and can describe some curved trajectories, but
the ground, while the passive one is perpendicular to cannot crab sideways. For example, to realize a
the roller axis [2]. When the wheel rotates, a force parallel parking, a differential drive vehicle should
vector along the wheel and a force vector make a number of maneuvers (Figure 3).
perpendicular to the wheel are created. By a simple
control of each wheel rotation, the vehicle moving
direction can be changed instantaneously.

Figure 3: Lateral parking of a differential drive

mobile robot [6]
Figure 1: Mecanum wheel
A vehicle without non-holonomic constraints it can
travel in any direction under any orientation. This
capability is widely known as omnidirectional
mobility. Omnidirectional vehicles have great
advantages over conventional platforms, with car-
like Ackerman steering or differential drive system
in terms of moving in tight areas [5]. They can crab
sideways, turn on the spot and follow complex
trajectories. These vehicles are capable of easily
performing tasks in environments with static and
Figure 2: DOF’s in a Mecanum wheel [2] dynamic obstacles and narrow spaces.
Usually, vehicles based on Mecanum wheel have a
When a Mecanum wheel is rotating, at least one square or a rectangular configuration, with two
roller (maximum two rollers) is (are) in contact with wheels on each side of the chassis. Using four of
the ground. Only a small surface (theoretical, one these wheels provides omnidirectional movement for
point) of the roller is in contact with the ground. The a vehicle without needing a conventional steering
area of this surface traverses the roller from one side system. When Mecanum wheels are actuated, the
to another, depending on the sense of wheel rotation. angled peripheral rollers translate a portion of the
The direction of the traction force will be done by force in the rotational direction of the wheel to a
the traversing sense of contact surface. It means, if force normal to the wheel direction.
we look to the wheel from the top side, the traction
force will be perpendicular to the roller axis [3].

2.2. Mecanum wheel vehicle vs. Conventional

wheel vehicle
The benefits of a vehicle with Mecanum wheels
relative to one with steered wheels have been
presented by [4]. Usually, robotic vehicles are
designed to perform planar motion. In a two
dimensional space, a body has three degrees of
freedom, being capable of translating in both
directions and rotating about its centre of gravity.
However, most conventional vehicles do not have
the ability to control every degree of freedom
independently, because conventional wheels are not
capable of moving in a direction parallel to their Figure 4: Vehicle motion according to the direction
axis. These so called non-holonomic constraints of and angular speed of the wheels [6]

22 The Romanian Review Precision Mechanics, Optics & Mechatronics, 2011, No. 40
 Practical Applications for Mobile Robots based on Mecanum Wheels - A Systematic Survey

Table 1: Comparison between different types of drives

Mecanum drive Holonomic drive Swerve drive
Description

Wheels with angled rollers Wheels with “straight” Independently steered drive
rollers (omniwheels) modules
Advantages - compact design - low weight - simple conceptually
- high load capacity - compact design - simple wheels
- simple to control - simple to control - continuous wheel
- less speed and pushing - less speed and pushing contact
force when moving force when moving - high load capacity
diagonally diagonally - robust to floor conditions
Disadvantages - very complex - more complex - complex mechanical
conceptually conceptually design
- discontinuous wheel - discontinuous wheel - heavy and massive
contact contact or variable design
- high sensitivity to floor drive-radius - complex to program and
irregularities - sensitive to floor control
- complex wheel design irregularities - high friction and
- lower traction scrubbing while steering

Depending on each individual wheel direction and independent of travel direction.

velocity, the resulting combination of all these The slippage of the wheels prevents the most
forces produce a total force vector in any desired popular dead-reckoning method, using rotary shaft
direction thus allowing the platform to move freely encoders [5], [8], from being performed well on a
in the direction of the resulting force vector, without vehicle with Mecanum wheels. In order to solve the
changing of the wheels themselves. The vehicle is problem, visual dead-reckoning was used as a slip-
able to translate on any direction, forward/backward resilient sensor [7], [9]. This technique, also used in
but also sideways left/right and turning on the spot, optical mice, makes use of an on-board video-
thanks to its special wheels (Figure 4). This is camera continuously capturing frames of the ground
especially helpful when having to maneuver in tight beneath and image processing hardware on the robot
environments [5]. A short comparison between determining the speed and direction in which the
Mecanum drive, holonomic drive and swerve drive current frame has moved relative to the previous
is presented in Table 1. frame thus allowing the speed and direction of that
point of reference to be calculated.
2.3. Mecanum wheel constructive solutions A traditional Mecanum wheel with the peripheral
Omnidirectional wheeled vehicles with Mecanum rollers held in place from the outside is presented in
wheels have some shortcomings. According to [7], a Figure 1. This design, although having a good load
vehicle with Mecanum wheels is susceptible to carrying capacity, has the disadvantage that, when
slippage, and as a result, with the same amount of encountering an inclined or uneven surface, the rim
wheel rotation, lateral travelling distance is different of the wheel can make contact with the surface,
from longitudinal travelling distance. In addition, the instead of the roller, therefore preventing the wheel
ratio of longitudinal travelling distance over lateral from operating correctly (Figure 5.a). A simple
travelling distance with the same amount of wheel alternative design, also proposed by Ilon, which
rotation, changes with ground condition. The second alleviates the problem, consists in having the rollers
drawback is that the contact point between the wheel split in two (or in three) and centrally mounted as
and the ground moves along a line parallel to the shown in Figure 5.b. This design ensures that the
wheel axis, even though the wheel is always in rollers are always in contact with the work surface,
contact with the ground. The lateral movement thus allowing a better performance on uneven
produces horizontal vibrations. The last drawback is surfaces [10].
that its ability to overcome obstacles is not

The Romanian Review Precision Mechanics, Optics & Mechatronics, 2011, No. 40 23
 Practical Applications for Mobile Robots based on Mecanum Wheels - A Systematic Survey

The second design is Mecanum wheel with rotatable

rollers illustrated in Figure 7. Compared to the first
design, this one is more effective, but mechanically
more complex. The peripheral rollers are split and
centrally mounted on an axle which can be pivoted
through 135°. This allows the rollers to be adjusted
(a)
from a straight position (in which they are locked so
the rollers cannot rotate on their axles), thus
effectively forming an almost normal treaded tire, to
an angle of 45° in which case they act as a
traditional Mecanum wheel, or to an angle of 135°,
making diagonal travel easier as it overcomes the
resistance given by the traditionally immobile
wheels. The angle of the rollers on each wheel is
(b) controlled through all the roller shafts, which are
Figure 5: a) Traditional Mecanum wheel on inclined connected through a bevel gear system in such a way
surface; b) Mecanum wheel with centrally mounted that a rotary actuator on one of the shafts controls all
rollers the other simultaneously.
[3] proposed a new Mecanum wheel constructive
One disadvantage of the Mecanum design is the solution in terms of its performance on various
inefficient use of the kinetic energy supplied to the surfaces and concluded that the size of the peripheral
wheels by the motors. Due to the rotation of the rollers has a great effect upon this performance
exterior rollers, only a component of the force at the (Figure 8.a). The larger the rollers are, the greater
perimeter of the wheel is applied to the ground and the range of surface deviations can be overcome.
the resulting force only partially contributes to the Also, as the size of rollers increases, the slower they
motion of the vehicle. [11] proposed two designs to spin, resulting in lower friction losses in the driving
improve the Mecanum wheel efficiency. The first of the wheel. In conclusion, when designing a new
design is the Mecanum wheel with lockable rollers drive system for a vehicle, there exist a certain
illustrated in Figure 6. This design was conceived to number of rollers that makes the ideal compromise
overcome the losses of efficiency due to energy lost between having a small number of large rollers per
in a direction normal to that of travel through the wheel, and having a large number of small rollers
peripheral rollers (they bleed off energy as they per wheel (Figure 8.b).
rotate), when the vehicle is travelling in a straight
line (forward/backward). Simple actuators are used
to rotate the brake activation disc, therefore to lock
and unlock the roller, when the vehicle is moving.
When driving in longitudinal motion, the peripheral
rollers will be locked and they will act as a heavy
thread, but when driving in sideways motion the
rollers will be unlocked. This design is effective in (a) (b)
reducing any lost forces in the forward direction to
Figure 8: a) New constructive wheel design; b)
zero, but does not improve the losses in any other
Rollers number according to their size.
directions.
Large size of rollers means a small number of them.
This has as effect a very small radius to the rollers
extremities and, in this case, it could be difficult to
use ball bearings in order to decrease the friction
between the roller and its axis. The new constructive
solution not only facilitates the use of big bearings,
Figure 6: Mecanum wheel with lockable rollers [11] but also makes possible the approximation of the
roller shape with a circle, because the roller length
becomes smaller than the one used in a traditional
Mecanum wheel – it is half of the normal roller.
In order to overcome the Mecanum wheel
difficulties when moving on rough terrain, [12] has
developed two new concepts of this type of wheel,
Figure 7: Mecanum wheel with rotatable rollers using the principle of “steeping on obstacles”. The
[11] first one is the concept of “elliptical Mecanum

24 The Romanian Review Precision Mechanics, Optics & Mechatronics, 2011, No. 40
 Practical Applications for Mobile Robots based on Mecanum Wheels - A Systematic Survey

double wheel” (Figure 9). The wheel itself consists 3. Practical applications in various fields
in two elliptically Mecanum wheels, 1 and 2,
coupled with a special mechanism in between 3. The 3.1. Military field
role of the mechanism 3 is to move (rotation and The manoeuvrability provided by omnidirectional
relative translation to each other) the components 1 vehicles can be utilized and can be very important in
and 2 in such a way that the resulting motion would numerous outdoors applications, such as search and
provide the same movement (in terms of speed, rescue missions, military activities, planetary
direction, smoothness) to the vehicle as a traditional explorations and mine operations.
Mecanum wheel would. For practical purposes, This wheel is commonly used in robotic applications
components 1 and 2 are not truly elliptical, when requiring a high degree of maneuverability, such as
viewed sideways, but rather an approximation of an those experienced by NASA for hazardous
ellipse is used. The designed wheel includes a total environment exploration [13]. The objective of the
number of 12 rollers (8 of type 1 and 4 of type 2). OmniBot project (Figure 11) is to develop a
The maximum obstacle height that this wheel can hazardous duty mobile base as an advanced
overcome is 75% of the wheel largest radius. development test bed to research alternate technical
approaches for remotely controlled operations in
hazardous areas. In addition, this base will be used
to test various automated umbilical technologies for
autonomous mobile vehicles.

Figure 9: Assembled elliptical Mecanum double

wheel [12]

The second concept is the “semicircular Mecanum

double wheel”. The idea was to modify the
elliptically shaped wheel seen in Figure 9, and
replace it with a wheel having half circular and half
Figure 11: NASA OmniBot mobile base [14]
elliptical profiles as shown in Figure 10. In this case,
as the double wheel rotates, the smooth motion of a
regular Mecanum wheel is achieved, while the
ability of overcoming small obstacles when
travelling laterally is kept. In contrast to the elliptical
wheel, the semicircular wheel includes three types of
rollers (4 of type 1, 2 of type 2 and 7 of type 3) and
the total number of rollers is 13. The flatter the
elliptical part is the greater clearance can be
achieved for overcoming higher obstacles. This type
of wheel is capable of overcoming obstacles of
height up to 37.5% of the wheel’s radius. Also, both Figure 12: Mecanum wheel vehicle for USA Navy
of these types of wheel have the ability of moving in [15]
soft dirt. The wheel would pile up a small amount of
dirt and then step on it, thus avoiding being blocked In hazardous environments where it is too dangerous
by large amounts of dirt. to send in unprotected personnel, a mobile base
could be used to perform remote inspections, site
surveys, and operations. The OmniBot is driven with
four brushless servomotors connected to
omnidirectional wheels (Mechanum). This allows
for complete 2-degree-of-freedom motion, which
results in extremely high maneuverability. The
benefit of this motion profile can truly be
appreciated when the vehicle is operated in a
teleoper-ational mode.The vehicle can be controlled
with a radio frequency (RF) control box or with a
Figure 10: Assembled semicircular Mecanum hardwired joystick. With the video transmission gear
double wheel [12] installed, teleoperation is possible up to a distance of
1,800 feet [14].

The Romanian Review Precision Mechanics, Optics & Mechatronics, 2011, No. 40 25
 Practical Applications for Mobile Robots based on Mecanum Wheels - A Systematic Survey

Omnix Technology Systems, Inc. had developed turning or moving sideways [18].
Mecanum wheel vehicle for U.S Navy for inspection
of areas inaccessible to humans and vehicles capable
of transporting very heavy loads in military
environments [15]. These vehicles can be seen in
Figure 12 are especially adaptable for autonomous
or teleported operations due to the unrestricted
manoeuvrability and simplicity of control.
MarsCruiserOne is a pressurized, habitable rover,
designed to allow exploration of the Moon and Mars
during future space missions (Figure 13).
Characterized by omnidirectional wheels especially
suited to tackle rocky terrain, it travels at a speed of
5-10 km/h [16]. This design incorporates: hubless Figure 14: Airtrax Sidewinder lift truck [19]
wheels (which allowed ingress/egress for the
astronaut crew for extra-vehicular activities and [20] developed an Automated Guided Vehicle as a
access to other surface modules and rovers), drive-under tractor in very compact dimensions. The
Mecanum wheels, a linear motor drive and a single development and realization of the vehicle are
point rotary shock absorber/suspension system [17]. optimized for the transportation of small goods
(Figure 15.a) [21]. The primary goal was a small
vehicle at low cost [22]. Furthermore the vehicle has
to be able to transport variable amounts of
containers in an economic way. An innovative
approach was to accomplish accumulated and single
transports by towing a trolley (Figure 15.b) or by
carrying one container with the same vehicle. For
transport and providing of small goods, the
following applications were found to be the most
promising: Floor block storage, order picking,
assembly and production. The vehicle has an
Figure 13: MarsCruiserOne [16] omnidirectional drive, using four independently and
electrically driven Mecanum wheels. The
3.2. Industrial field accomplished prototype is smaller than any vehicle
Airtrax ATX-3000 industrial forklifts (Figure 14) that is available at the market in Europe. As a result
excel in applications requiring tight manoeuvring or the needed space for logistic operations, like the
transporting long loads sideways through standard width of the track and stations, could be minimized
sized doors or narrow aisle ways. The ATX’s compared to common solutions. Especially the
unique, Omni-Directional movement allows it to height of the vehicle is very low so that an efficient
travel in all directions thus making it an ideal vehicle use as a drive-under tractor is possible. The results
to work in tight spaces where turns are not possible showed an efficient approach for an automated
and finite control is a necessity. The truck features transportation of trailers and small load carriers.
48 volt transistor controls with state-of-the-art
technology, infinitely variable travel, lift and lower
speeds, excellent visibility, ergonomic controls and
operator comfort [18].
The unique design of the four 21x12 independently
driven Mecanum wheels enables the ATX’s
OmniDirectional capabilities. Each wheel is directly
driven by individual transaxles. The wheels consist
of a large, heavy-duty hub with 12 uniquely
designed polyurethane rollers. The wheel and roller (a) (b)
design provides the Omni-Directional movement of Figure 15: a) Vehicle with small goods container; b)
the vehicle based on the speed and direction of each Vehicle with trolley [20]
wheel as determined by the operation of the traction
3.3. Medical field
joystick. Each roller incorporates bearings that do
Powered wheelchairs are known to provide benefits
not require periodic greasing or maintenance under
for older adults by enabling them to have a means of
most conditions. Since each roller rotates freely,
independent mobility. These benefits include:
scrubbing against the floor is minimized while
participation in self-care, productivity, and leisure

26 The Romanian Review Precision Mechanics, Optics & Mechatronics, 2011, No. 40
 Practical Applications for Mobile Robots based on Mecanum Wheels - A Systematic Survey

occupations; as well as, socialization opportunities, Another example of an omnidirectional wheelchair

and positive self worth [23] [24]. Overall powered is iRW [27], which provides a telehealth system with
wheelchairs are linked to an improved quality of life easy-to-wear, non-invasive devices for real time
for older adults who have a reduced ability to walk vital sign monitoring and long-term health care
and do not have the stamina, strength, or ability to management for the senior users, their family and
propel themselves in a manual wheelchair [23]. caregivers (Figure 16). A joystick controller is used
Without a powered wheelchair these older adults to control the iRW to move forward/backward, sway
would be dependent on others to complete life tasks right/left, and spin clockwise/counter clockwise. The
[25], and unable to have independent mobility. maximum forward speed of the iRW is set at 3km/h,
The OMNI (Office Wheelchair for High which is close to walking speed of human, and the
Manoeuvrability and Navigational Intelligence for maximum backward and sideways speed is set at
People with Severe Handicap) is a standalone 1.5km/h.
wheelchair developed with two goals in mind: 1) to
allow high mobility in complex environments; and 3.4. Educational field
2) to have modes of operation that will help the user Uranus (Figure 17) was the first mobile robot with
have higher degrees of independence [26]. This Mecanum wheels, designed and constructed in
wheelchair has been designed for individuals with Carnegie Melon University [28], [29]. It was built to
severe mental and physical disabilities. It consists of provide a general purpose mobile base to support
Mecanum wheels that provide 3-DOF (degrees of research in to indoor robot navigation. As a base, it
freedom) for the wheelchair; a specialized joystick provides full mobility, along with support for a
for 3-DOF movement; a sensor ring around the variety of payloads, such as sensors and computers.
wheelchair that has IR (infrared) and ultrasound It had not a suspension system, which is absolutely
sensors to provide obstacle detection capabilities; a necessary if the ground is not completely flat.
bumper sensor for fail-safe detection of collisions;
wheel odometers for knowledge of the wheelchair’s
location; an elevating seat to raise the user; and a
specialized display for the user select modes of
operation (Figure 16).
The omnidirectional wheelchair being developed at
the University of Western Australia’s Centre for
Intelligent Information Processing Systems (CIIPS)
allows the user to easily manoeuvre in what would
otherwise be an extremely complicated environment. Figure 17: Uranus omnidirectional mobile robot [28]
This project made improvements to the Mecanum
wheels, batteries, motor driver cards, human Other researchers, such as Braunl from University of
interface, control software, chassis and suspension South Australia have developed two different
system. These improvements transformed the Mecanum wheel omnidirectional mobile robots,
partially working prototype into a fully usable Omni-1 and Omni-2 [30], [31]. Figure 18 shows the
wheelchair (see Figure 16). The result is much structure of Omni-1 and Omni-2. The first design,
higher driving accuracy and a greatly improved Omni-1 used the Mecanum wheel design with rims
overall experience for the user in both comfort and that only leave a small gap/clearance for the roller.
ease of use. On the whole, the project was extremely The motor and wheel assembly tightly attached to
successful and will provide a very solid test bed for robot’s chassis. The Omni-1 can drive very well on
advanced driving and mapping projects in the future hard and flat surface but it loses the omnidirectional
[19]. capability on soft surface.

Figure 18: Mecanum Wheel Mobile robot Omni-1

and Omni-2 from University of Western Australia
Figure 16: Omnidirectional wheelchairs: OMNI [31]
[26], CIIPS wheelchair [19], iRW [27] (from left to
right) Omni-2 was develop using rimless and with

The Romanian Review Precision Mechanics, Optics & Mechatronics, 2011, No. 40 27
 Practical Applications for Mobile Robots based on Mecanum Wheels - A Systematic Survey

centrally mounted roller. The motor and wheel ordered otherwise [33].
assembly attach to cantilever wheel suspension with
shock absorbers. The rimless Mecanum wheel and
shocks absorbers encounter the sinking-in on softer
surface and uneven work surface as a result allows
omnidirectional driving for Omni-2.
The Mechatronics and Robotics Research Group
(MR2G) at Massey University have developed all
terrain Automatic Guided Vehicle (AGV) using a set
of Mecanum wheels combined with a set of
conventional wheels [11]. Any terrain change is
automatically detected and a set of pneumatics
actuators used to change from Mecanum wheels for
indoor and high mobility requirement to
conventional wheel for outdoor and rough terrain. Figure 20: The interactive shopping trolley [33]
This new driving mechanism of AGV has been
implemented on Mapped Environment Guided 4. Conclusions
Autonomous Navigator (MEGAN). Figure 19
illustrates the structure of MEGAN. In this paper, an overview over the Mecanum wheels
and their practical applications is presented. The
main advantage of this type of wheel is represented
by the omnidirectional property that it provides,
allowing extreme maneuverability and mobility in
congested environments. Also, some research that
was carried out in Mecanum wheel mobile robots in
order to improve the wheel design is described. The
manoeuvrability provided by omnidirectional
vehicles can be utilized and can be very important in
Figure 19: Mapped Environment Guided both outdoors applications, such as search and
Autonomous Navigator (MEGAN) [11] rescue missions, military activities, planetary
explorations and mine operations, long loads
3.5. Other fields transportation, and indoor applications, like small
The main goal of the CommRob project was to goods transportation, powered robotic wheelchairs
develop scientific methods or technologies to or shopping carts.
introduce robots in human environments. The
Interactive Behavior Operated Trolley (Figure 20) 5. Acknowledgement
InBOT addresses several everyday problems.
Among other possibilities this means helping the This paper was realized with the support of
customer to find the desired products without POSDRU CUANTUMDOC “DOCTORAL
extensive search in big supermarkets, or relieving STUDIES FOR EUROPEAN PERFORMANCES
the customer from the burden of pushing the IN RESEARCH AND INOVATION” ID79407
shopping cart using his own force all the time, project, funded by the European Social Found and
especially if the cart is heavily loaded or the Romanian Government.
customer is elderly or handicapped. Especially for
these groups of customers it could be very 6. Bibliography
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