Development of a novel omnidirectional wheel for differential drive mobile robots -Basic kinematic modeling and prototype development-

Luis CANETE; Takayuki TAKAHASHI

doi:10.1299/jsmermd.2016.2A2-07b7

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

Online ISSN : 2424-3124

2016

Session ID : 2A2-07b7

DOI https://doi.org/10.1299/jsmermd.2016.2A2-07b7

Conference information

Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : June 08, 2016 - June 11, 2016

Development of a novel omnidirectional wheel for differential drive mobile robots

-Basic kinematic modeling and prototype development-

Luis CANETE, Takayuki TAKAHASHI

Author information

Keywords: Mobile mechanism, Wheeled robot, Hybrid mechanism, Omnidirectional

CONFERENCE PROCEEDINGS FREE ACCESS

Details

Abstract

This paper presents a novel wheel that has the ability to be used as an omnidirectional wheel and as a plain wheel which has constraints in the direction perpendicular to the the wheel plane. This enables the wheel to apply the advantage of both plain and omnidirectional wheel depending on the situation improving the adaptability of mobile robots. Kinematic modeling and the developed prototype of the wheel are discussed.

Content from these authors

Favorites & Alerts

Corresponding author

Register with J-STAGE for free!