Development of an omnidirectional mobile robot with active dual-wheel casters

Keigo Watanabe, Kiyotaka Izumi, Fuhua Han

Research output: Contribution to journalArticle

1 Citation (Scopus)


An omnidirectional mobile robot can be constructed by applying a special wheel mechanism. However, it should be noted that the mobile robot developed using such mechanisms has poor ride capabilities on an uneven floor and loading due to the inherent property of its wheel mechanism. To solve these problems an assembly with an active dual-wheel caster similar to the conventional two-independent driving wheel mechanism but the steering axis with an offset length s is arranged ahead of the axle of each active wheel is developed.

Original languageEnglish
Pages (from-to)239-240
Number of pages2
JournalAdvanced Robotics
Issue number3
Publication statusPublished - 1999
Externally publishedYes


ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this