Abstract
RoboCup Middle-sized-League soccer robots are mainly equipped with the three omni-roller mechanism. These mobile robots are expected to function efficiently in fields, such as logistics. These systems are easy to control and allow omnidirectional movement. However, theoretical research on these systems’ exercise efficiencies has not been conducted. In this research, we assume a mechanism that can arbitrarily change the roller arrangement based on a circular mechanism and evaluate the roller arrangement from a speed efficiency perspective. Additionally, we define an evaluation function using the theory of linear transformation to examine the roller arrangement.
https://ror.org/03qhht705 
