Motion Analysis of an Omnidirectional Mobile Robot with Wheels Connected by Passive Sliding Joints

  • Tatsuro Terakawa
  • Masaharu KomoriEmail author
  • Kippei Matsuda
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


In order to solve problems of conventional mobile robots, such as limited mobility and complicated structure, we proposed a novel omnidirectional mobile robot named slidable-wheeled omnidirectional mobile robot (SWOM). SWOM has three wheels connected to the main body by passive sliding joints, which enable SWOM to make an omnidirectional movement. The wheels of SWOM are all normal wheels, so SWOM achieves both superb mobility and a simple structure. In the movement of SWOM, its features vary depending on the steering angles and the relative positions of the wheels. We attempt to evaluate these effects quantitatively in this research. This paper describes the structure and movement of SWOM first. Then, a velocity analysis is carried out based on the kinematics and the characteristics of the input-output relation are discussed. The experiments are conducted by using the prototype to show that SWOM performs as expected.


Omnidirectional Mobile Robot Wheel Kinematics 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Campion, G., Bastin, G.: On adaptive linearizing control of omnidirectional mobile robots. In: Proceedings of the 1989 International Symposium on the Mathematical Theory of Networks and Systems, pp. 531–538. Springer, Heidelberg (1990).CrossRefGoogle Scholar
  2. 2.
    Indiveri, G.: Swedish wheeled omnidirectional mobile robots: kinematics analysis and control. IEEE Transactions on Robotics 25(1), 164–171 (2009).CrossRefGoogle Scholar
  3. 3.
    Santos, J., Conceição, A., Santos, T., Araújo, H.: Remote control of an omnidirectional mobile robot with time-varying delay and noise attenuation. Mechatronics 52, 7–21 (2018).CrossRefGoogle Scholar
  4. 4.
    Komori, M., Matsuda, K., Terakawa, T., Takeoka, F., Nishihara, H., Ohashi, H.: Active omni wheel capable of active motion in arbitrary direction and omnidirectional vehicle. Journal of Advanced Mechanical Design, Systems, and Manufacturing 10(6), JAMDSM0086 (2016).CrossRefGoogle Scholar
  5. 5.
    Ferrière, L., Rauccent, B., Campion, G.: Design of omnimobile robot wheels. In: Proceedings of the 1996 IEEE International Conference on Robotics and Automation, pp. 3664−3670. IEEE, Piscataway (1996).Google Scholar
  6. 6.
    West, M. and Asada, H.: Design and control of ball wheel omnidirectional vehicles. In: Proceedings of 1995 IEEE International Conference on Robotics and Automation, pp. 1931−1938. IEEE, Piscataway (1995).Google Scholar
  7. 7.
    Ostrovskaya, S., Spiteri, R. J. and Angeles, J.: Dynamics of a mobile robot with three ballwheels. International Journal of Robotics Research 19(4), 383−393 (2000).CrossRefGoogle Scholar
  8. 8.
    Ok, S., Kodama, A., Matsumura, Y. and Nakamura, Y.: SO(2) and SO(3), omni-directional personal mobility with link-driven spherical wheels. In: Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 268−273. IEEE, Piscataway (2011).Google Scholar
  9. 9.
    Terakawa, T., Komori, M., Matsuda, K., Mikami, S.: A novel omnidirectional mobile robot with wheels connected by passive sliding joints. IEEE/ASME Transactions on Mechatronics 23(4), 1716–1727 (2018).CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Kyoto UniversityKyotoJapan

Personalised recommendations