{"id":431,"date":"2013-04-24T00:59:11","date_gmt":"2013-04-24T07:59:11","guid":{"rendered":"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/?page_id=431"},"modified":"2013-04-30T22:00:25","modified_gmt":"2013-05-01T05:00:25","slug":"omni-directional-base-and-camera-turret-for-pr1","status":"publish","type":"page","link":"https:\/\/sr.stanford.edu\/?page_id=431","title":{"rendered":"Omni-Directional Base and Camera Turret for PR1"},"content":{"rendered":"<h2>Project Description<\/h2>\n<p>This was the proof-of-concept omnidirectional platform for the PR1 mobile base\u00a0designed and fabricated by Reuben Brewer in the Salisbury Robotics Lab, Stanford University, Summer\/Fall 2006.\u00a0\u00a0This design was later adapted by Willow Garage for the PR2 mobile base. The base consists of 4 omnidirectional wheels, and each\u00a0omnidirectional\u00a0wheel has 3 independent DOF (2 wheels and 1 turret that spins about the azimuth). The extra turret DOF was added for redundancy in case one of the rubber wheels became stuck such that the omnidirectional wheel could no longer spin by driving the rubber wheels differentially.<\/p>\n<h3>Omniboard YouTube Video 1<\/h3>\n<p><iframe loading=\"lazy\" title=\"YouTube video player\" src=\"http:\/\/www.youtube.com\/embed\/s8RSug0AVS4?rel=0&amp;wmode=opaque\" height=\"355\" width=\"425\" allowfullscreen=\"true\" frameborder=\"0\"><\/iframe><\/p>\n<h3>Omniwheel YouTube Video 1<\/h3>\n<p><iframe loading=\"lazy\" title=\"YouTube video player\" src=\"http:\/\/www.youtube.com\/embed\/x4raEvbzoMA?rel=0&amp;wmode=opaque\" height=\"355\" width=\"425\" allowfullscreen=\"true\" frameborder=\"0\"><\/iframe><\/p>\n<h3>Omniboard YouTube Video 2<\/h3>\n<p><iframe loading=\"lazy\" title=\"YouTube video player\" src=\"http:\/\/www.youtube.com\/embed\/mQzRyseDMhw?rel=0&amp;wmode=opaque\" height=\"355\" width=\"425\" allowfullscreen=\"true\" frameborder=\"0\"><\/iframe><\/p>\n<h2>Project Staff<\/h2>\n<ul>\n<li><a href=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/?page_id=163\" title=\"Reuben Brewer\">Reuben Brewer<\/a><\/li>\n<\/ul>\n<h2>Status<\/h2>\n<p>Inactive.<\/p>\n<h2>Funding Sources<\/h2>\n<p>Funded by private donors.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Project Description This was the proof-of-concept omnidirectional platform for the PR1 mobile base\u00a0designed and fabricated by Reuben Brewer in the Salisbury Robotics Lab, Stanford University, Summer\/Fall 2006.\u00a0\u00a0This design was later adapted by Willow Garage for the PR2 mobile base. The base consists of 4 omnidirectional wheels, and each\u00a0omnidirectional\u00a0wheel has 3 independent DOF (2 wheels and &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"\" href=\"https:\/\/sr.stanford.edu\/?page_id=431\"> <span class=\"screen-reader-text\">Omni-Directional Base and Camera Turret for PR1<\/span> Read More &raquo;<\/a><\/p>\n","protected":false},"author":3,"featured_media":0,"parent":509,"menu_order":0,"comment_status":"open","ping_status":"open","template":"","meta":[],"_links":{"self":[{"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages\/431"}],"collection":[{"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/users\/3"}],"replies":[{"embeddable":true,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=431"}],"version-history":[{"count":5,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages\/431\/revisions"}],"predecessor-version":[{"id":1465,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages\/431\/revisions\/1465"}],"up":[{"embeddable":true,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages\/509"}],"wp:attachment":[{"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=431"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}