An Omnidirectional Mobile Robot Using Multiple Active Dual-Wheel Caster Assemblies

摘要

Recently, High mobilities of vehicles in industries are required for the automation of inspections and special works in narrow space. In this paper, we present a new type of holonomic and omnidirectional mobile robot platform using some driving assemblies, one of which consists of two independent driving wheel mechanisms just like active dual-wheel caster with an offset steered axis.