AIConfPaper
IROS 2024poster0 citations

Enhanced Omni-Ball: Spherical Omnidirectional Wheel Achieving Passive Rollers with High Load Capacity and Smoothness through an Offset Rotational Axis

Kenjiro Tadakuma, Seiji Sakiyama, Eri Takane, Riichiro Tadakuma, Satoshi Tadokoro

Source ↗Scholar ↗

Abstract

This paper introduces an innovation of the Spherical Omnidirectional Wheel, designed to achieve omnidirectional driving motion. In previous models, the supporting shaft was placed at the center of the mechanism. However, achieving both smoothness and high load-capacity in such designs proved challenging. The mechanism proposed in this study features an offset design, enabling outer support for the wheel. A prototype was developed and its basic motion was experimentally validated.

BibTeX
@inproceedings{iros2024_enhancedomniball,
  title = {Enhanced Omni-Ball: Spherical Omnidirectional Wheel Achieving Passive Rollers with High Load Capacity and Smoothness through an Offset Rotational Axis},
  author = {Kenjiro Tadakuma and Seiji Sakiyama and Eri Takane and Riichiro Tadakuma and Satoshi Tadokoro},
  booktitle = {IROS 2024},
  year = {2024}
}