Design of continuous alternate wheels for omnidirectional mobile robots

K. S. Byun, S. J. Kim, J. B. Song

Research output: Contribution to journalConference article

13 Citations (Scopus)


Many types of omnidirectional wheels with passive rollers have a gap between rollers. This gap causing the wheel to make discontinuous contact with the ground, leads to vertical and/or horizontal vibrations. In this paper a novel design of continuous alternate wheel was proposed to minimize a gap between rollers. In the continuous alternate wheel, inner and outer rollers are arranged continuously, thus resulting in no gap between the rollers. This paper details the design process including the systematic approaches to determine the optimum number of rollers, the radii of rollers and the inclination angle of the inside of an outer roller for given design specifications. Finally, an actual continuous alternate wheel is constructed to verify validity of the design guidelines.

Original languageEnglish
Pages (from-to)767-772
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2001 Jan 1
Event2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: 2001 May 212001 May 26

ASJC Scopus subject areas

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

Cite this