Dual-Caster Omni-Directional Mobile Platform Incorporating Rocker-Bogie Mechanism

- Investigation of the number and structure of passive wheels -

Abstract

The aim of this research is to realizing an omni-directional mobile platform with high moving performance by simple mechanisms. In the authors’ previous study, an omni-directional mobile platform combining a dual-wheel caster-drive mechanism and a rocker bogie mechanism was proposed. In this report, to realize high driving performance with a simpler configuration, number and structure of the passive wheels are considered, and running performance is compared by experiments.