Omnidirectional Mobile Robot

Omnidirectional Mobile Robot with Steerable Omnidriectional Wheels

• Researchers

  • • Kyung-Seok Byun (Ph.D), Jeong-Keun Kim (Master), Young-Min Kim (Master)

• Research Period

  • • 2000.03 ~ 2006. 02

• Research Results

  • • Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels (OMR-SOW)

• Patent

  • • Patent 1: Omni-directional wheel with passive rollers, Patent No. 0418427(2004.01.31)

    • Patent 2: Omni-directional vehicle with continuous variable transmission, Patent No. 0482000(2005.03.31)

• Papers

  • • Paper 1: Kyung-Seok Byun, Jae-Bok Song, Design and Construction of Continuous Alternate Wheels for an Omni-Directional Mobile Robot, Journal of Robotic Systems, Wiley Europe, Vol. 20, No. 9, pp. 569-579, 2003.09.

    • Paper 2: Jae-Bok Song, Kyung-Seok Byun, Design and Control of a Four-Wheeled Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels, Journal of Robotic Systems, Wiley Europe, Vol. 21, No. 4, pp. 193-208, 2004.04

    • Paper 3: 송재복, 김정근, 조향 가능한 전방향 바퀴를 갖는 전방향 이동로봇의 에너지 효율 개선, 제어자동화시스템공학회 논문지, Vol. 11, No. 8, pp. , 2005.08

• Research Background

  • • Bi-directional mobile robot can not move sideways(ex, automobiles parking).

    • OMRs are capable of arbitrary motion in an arbitrary direction without changing the direction of its body(holonomic).

• Research Objectives

  • • Omnidirectional wheel - CAW(Continuous alternate wheel).

    • Omnidirectional mobile robot with variable wheel arrangement mechanism.

    • Motion control systems and algorithm.

    • Steering algorithm based on a CVT for increasing energy efficiency.

• Continuous Alternate Wheel; CAW)

  • • Reduced gap between passive rollers for continuous contact and reducing vibration.

    • Large radius of a passive roller to improving height of sumountable bump.

                      <Continuous Alternate Wheel; (a) photo and (b) active and passive rolling of CAW>

• Variable Wheel Arrangement Mechanism

  • • Independent wheel velocity control.

    • Redundant DOF can be used as CVT.

                              <Variable Wheel Arrangement Mechanism>                                            <Synchronous steering of wheels>

• Realtime transformation between omnidirectional and bidirectional mode

  • • Capable of realtime transformation between omnidirectional and bidirectional mode.

    • More energy efficient.

    • passive roller brake mechanism in bidirectional mode.

 (a) Disassembled appearance of CAW with brake module. (b) Passive roller brake mechanism.

• System configuration of OMR-SOW

  • • Payload: 100kg.

    • 4 DC Motors(150W).

    • Master controller: TMS320F2812, Motor controller : TMS320F2812

    • Communication: Ethernet, CAN and Bluetooth.

                                          System configuration of OMR-SOW.