抄録
Mobilities with wheels such as cars or bikes which have been used generally have a constrain of their motion and they cannot move toward wheel axis direction. On the other hand, omni-directional mobilities can move toward all direction and rotate on site. Our group has developed link-driven spherical wheel as omni-directional mechanism and omni-directional mobilities with it. Link-driven spherical wheel is superior to traditional spherical wheel mechanism at driving force but have some problem of omni-directional movement. This paper propose algorithm of omni-directional movement for link-driven spherical wheel and report the development of omni-directional mobilities with the wheels.
