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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.