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.
|Number of pages||2|
|Publication status||Published - 1999|
ASJC Scopus subject areas
- Control and Systems Engineering