Exploration of robotic-wheel technology for enhanced urban mobility and city scale omni-directional personal transportation

Mobility is traditionally thought of as freedom to access more goods and services. However, in my view, mobility is also largely about personal freedom, i.e., the ability to exceed one's physical limitations, in essence, to become "more than human" in physical capabilities. This thesis explores novel designs for omni-directional motion in a mobility scooter, car and bus with the aim of increasing personal mobility and freedom. What links these designs is the use of split active caster wheel robot technology. In the first section, societal and technological impacts of omni-directional motion in the city are examined. The second section of the thesis presents built and rendered prototypes of these three designs. The third and final section, evaluates implementation issues including robotic controls and an algorithm necessary for real world omni-directional mobility.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Architecture. Program in Media Arts and Sciences.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2008

Author dc:creator

• Poblano, Raul-David Valdivia

Advisor dc:contributor.advisor

• William J. Mitchell.

• Architecture. Program in Media Arts and Sciences.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/45756

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/45756