抄録
Omni-directional mechanisms have various problems. For example, it is too large and heavy, difficult to absorb an external shock and to run on uneven terrain. Thus, we have developed a omni-directional robot which light and small omni-directional robot "Eggbeater-FM". Eggbeater-FM has four mecanum wheels composed of 60 fins made of PP(polypropylene). This wheel is flexible and is able to absorb an external shock. Eggbeater-FM climbed over steps by torsion main body. This paper shows Eggbeater-FM mechanical design and control system.
