Functional Design of a Novel Over-Actuated Mobile Robotic Platform for Assistive Tasks

  • Luca CarbonariEmail author
  • Andrea Botta
  • Paride Cavallone
  • Giuseppe Quaglia
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 84)


This paper presents a novel over-actuated mobile platform for assistive robotics tasks. Its main peculiarity is that of owning an innovative architecture expressly conceived to enhance the dynamics performance offered by the present-day solutions for omni-directional planar motions. The machine, named Paquitop_01, is aimed at living and working in a domestic, non-structured, and variously populated environment. Such premise is a crucial point within the design process, from either the mechanical, or the control point of view, for it arises a set of uncharted challenges under many aspects. Which go from the ability to avoid or overpass small obstacles, passing through the capability to achieve specific person tracking tasks, and arriving to the need of operating with a as-high-as-possible dynamic performance. As a matter of fact, such a wide variety of issues cannot be approached without a preliminary accurate analysis. This paper is aimed at fulfilling such task, by investigating the kinematics and dynamic properties of a novel over-actuated platform.


Over-actuated mobile robot Assistive robot Redundant mobility Modular design 



Authors’ acknowledgement goes to the PIC4SeR (PoliTO Interdepartmental Centre for Service Robotics) which gave support and assistance to this research.


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Copyright information

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Luca Carbonari
    • 1
    Email author
  • Andrea Botta
    • 1
  • Paride Cavallone
    • 1
  • Giuseppe Quaglia
    • 1
  1. 1.Politecnico di TorinoTurinItaly

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