Design of a four-wheeled omnidirectional mobile robot with variable wheel arrangement mechanism

Kyung Seok Byun, Sung Jae Kim, Jae Bok Song

Research output: Contribution to journalConference article

34 Citations (Scopus)

Abstract

An omnidirectional mobile robot equipped with four independent omnidirectional wheels can perform 3 DOF motion and has one redundant DOF. This redundancy can be used to drive the mechanism enabling the wheel arrangement to vary, which can function as a continuously - variable transmission (CVT). In this research, a special mechanism called a variable wheel arrangement mechanism is proposed to increase the range of velocity ratio for the CVT from the wheel velocities to robot velocity, which may improve performance of the mobile robot. The mobile robot with this mechanism was constructed and various tests have been conducted to demonstrate the validity and feasibility of the proposed mechanism.

Original languageEnglish
Pages (from-to)720-725
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
Publication statusPublished - 2002
Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
Duration: 2002 May 112002 May 15

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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