Design and implementation of a cognitive-ergonomic navigation interface on an optimized holonomic mechanism

Abstract

Since holonomic wheeled mechanisms are used in narrow and crowded areas, designing a cognitive ergonomic interface for navigating these mechanisms is a challenging issue in robotics. In this paper, a novel holonomic mechanism with four omnidirectional wheels is firstly presented with the aim of increasing the maneuverability of holonomic wheeled robots by decreasing the volume of the mechanism. This reduction is performed by modifying the conventional arrangement of actuators by using SCAMPER method. Thus, a novel cognitive-ergonomic interface is presented for navigating such mechanisms. According to the statistic data this interface is mind compatible and user friendly. On the other hand with this navigation interface, users can interact with a holonomic mechanism easily without any previous training.