Abstract
Force display is an important element to set up a user-friendly man-machine interaction system (e.g. haptic interface system). To display force using a simple mechanism, we focus attention on the static characteristics of an omnidirectional mobile robot. This paper presents development of a prototype of a wheeled motion base consisting of omnidirectional mechanism, the static characteristics of the motion base and the preliminary experiment (current monitor calibration) in preparation for estimating motor torque to adjust the generated force.In addition, we show an force display method and the generated force.
