Omnidirectional vehicles have higher mobility than four-wheel vehicles. In this paper, we study a Ball Wheeled Vehicle (BWV). This BWV is a sort of omnidirectional vehicle with three rubber balls. Three rubber balls are driven by omni wheels and the BWV can move eight directions and do pivot turn. A prototype BWV was made to single riding. But, it was a little bit large for practical use. Modifying mechanism, the BWV is downsized. Each rubber ball is controlled by a pair of omni wheel and rotary encoder with PI control law. Experimental results and comparison results between the prototype and new BWV will be given.
J-STAGEがリニューアルされました! https://www.jstage.jst.go.jp/browse/-char/ja/
