Abstract
Omni-directional mechanisms have various problems. For example, too large and heavy, difficult to absorb an external shock and to run on uneven terrain. thus, we have developed a light and small omni-directional robot "Eggbeater". Eggbeater has three globular metal spring wheels. The wheel can be applied to uneven terrain of outdoor environments. However, There is a limit to the running of the rough terrain of the Eggbeater. In this paper, we have developed a new Eggbeater with improved running ability in rough terrain. Eggbeater2 has four globular metal spring wheels composed 48 SMA (Shape Memory Alloy) wires.
