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

Fuhua Han, Takaaki Yamada, Keigo Watanabe, Kiyotaka Izumi

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


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. The kinematic models of the wheel mechanism and mobile robot using two and three driving assemblies are derived, and their models are used to construct a feedback control system based on a resolved velocity control for the robot. The effectiveness of the present method is illustrated by some computer simulations. Finally, the prototype of a mobile robot platform using two driving assemblies is given to prove the performance experimentally.

Original languageEnglish
Pages (from-to)154-161
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number653
Publication statusPublished - 2001
Externally publishedYes


  • Active Dual-Wheel Caster
  • Holonomic Platform
  • Kinematic Model
  • Omnidirectional Mobile Robot
  • Resolved Velocity Control

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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