Design and control of a four-wheeled omnidirectional mobile robot with steerable omnidirectional wheels

Jae Bok Song, Kyung Seok Byun

Research output: Contribution to journalArticle

58 Citations (Scopus)

Abstract

Omnidirectional mobile robots are capable of arbitrary motion in an arbitrary direction without changing the direction of wheels, because they can perform 3 degree-of-freedom (DOF) motion on a two-dimensional plane. In this research, a new class of omnidirectional mobile robot is proposed. Since it has synchronously steerable omnidirectional wheels, it is called an omnidirectional mobile robot with steerable omnidirectional wheels (OMR-SOW). It has 3 DOFs in motion and one DOF in steering. One steering DOF can function as a continuously variable transmission (CVT). CVT of the OMR-SOW increases the range of velocity ratio from the wheel velocities to robot velocity, which may improve performance of the mobile robot. The OMR-SOW with four omnidirectional wheels has been developed in this research. Kinematics and dynamics of this robot will be analyzed in detail. Various tests have been conducted to demonstrate the validity and feasibility of the proposed mechanism and control algorithm.

Original languageEnglish
Pages (from-to)193-208
Number of pages16
JournalJournal of Robotic Systems
Volume21
Issue number4
DOIs
Publication statusPublished - 2004 Apr

ASJC Scopus subject areas

  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Design and control of a four-wheeled omnidirectional mobile robot with steerable omnidirectional wheels'. Together they form a unique fingerprint.

  • Cite this