Development of a Holonomic Omni-Directional Mobile Robot with Step-Climbing Ability

摘要

In this paper, we purpose a new holonomic omnidirectional mobile robot that can pass over steps and rough terrain. A prototype of the omnidirectional mobile robot has seven wheels with free rollers. We adopt a passive suspension for the robot to climb slopes and to pass over steps without actuators and sensors for climbing and analyzed the kinematics of the omnidirectional robot. The performance of the prototype robot is shown through experiments.