Development of a novel omnidirectional wheel for differential drive mobile robots

-Basic kinematic modeling and prototype development-

抄録

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.