抄録
This paper proposes a new vehicle type mechanism which has 4-Wheel-Drive Omni-Wheels with 4-Wheel-Steering. This mechanism is a superset of conventional Omni-directional vehicle and some car type mechanism. Then with some DOF fixed, the mechanism can be applied many conventional driving methods. Steering and driving characteristics of the vehicle is illustrated with geometrical analysis. A straight driving method with non-step gear ratio by symmetric steering and a turning method by difference of driving speed are tested. Experiments are held with a vehicle model and some difference between the analysis and experiments caused by dynamic effect such as driving or cornering force.
