Design and implementation of an omnidirectional spherical robot Omnicron
Journal
IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Pages
719-724
Date Issued
2012
Author(s)
Abstract
We report on a novel design and implementation of an omnidirectional spherical robot Omnicron. Instead of using wheels or flywheels, three omnidirectional wheels are installed inside the spherical shell and controlled independently; thus, the 3-degree-of-freedom planar omnidirectional mobility of the robot without any singularity condition can be achieved by simple forward 3-to-3 kinematic mapping. The performance of the robot is experimentally evaluated, thus proving its omnidirectional and trajectory-controllable mobility.
SDGs
Type
conference paper