Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 29, 2024 - June 01, 2024
In this paper, we introduce a traveling strategy that enables smooth movement on leveled ground using Active Mecanum Wheels(AMW) suitable for uneven terrain. The AMW, previously introduced, facilitates omnidirectional driving with two degrees of freedom, enhancing the mobility over rough terrain when employed in a mobile unit. However, this mechanism experiences fluctuations in the ground contact vector angles of its sub-wheels. We demonstrate that by deliberately leveraging these deviations, smooth movement can be achieved.
