Development of holonomic omnidirectional vehicle with "Omni- Ball": Spherical wheels

Kenjiro Tadakuma, Riichiro Tadakuma, Jose Berengeres

Research output: Chapter in Book/Report/Conference proceedingConference contribution

42 Citations (Scopus)

Abstract

In this paper, mechanical design of a novel spherical wheel shape for a omni-directional mobile robot is presented. The wheel is used in a omnidirectional mobile robot realizing high step-climbing capability with its hemispherical wheel. Conventional Omniwheels can realize omnidirectional motion, however they have a poor step overcoming ability due to the sub-wheel small size. The proposed desing solves this drawback by means of a 4 wheeled design. "Omni-Ball" is formed by two passive rotational hemispherical wheels and one active rotational axis. An actual prototype model has been developed to illustrate the concept and to perform preliminary motion experiments, through which the basic performance of the Omnidirectional vechicle with this proposed Omni-Ball mechanism was confirmed. An prototype has been developed to illustrate the concept. Motion experiments, with a test vehicle are also presented.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages33-39
Number of pages7
DOIs
Publication statusPublished - 2007 Dec 1
Externally publishedYes
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 2007 Oct 292007 Nov 2

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period07/10/2907/11/2

Keywords

  • Mechanical Design
  • Omni-Ball
  • Omni-Wheel
  • Omnidirectional mobility
  • Spherical Wheel
  • Step-Climbing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Tadakuma, K., Tadakuma, R., & Berengeres, J. (2007). Development of holonomic omnidirectional vehicle with "Omni- Ball": Spherical wheels. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 33-39). [4399560] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399560