The miniature omni-directional mobile robot OmniKity-I (OK-I)

The structure of OmniKity-I (OK-I), the miniature omni-directional mobile robot, and its kinematics and dynamics models are presented. OK-I has three DOFs in the plane. A conventional two wheeled mobile robot (2-WMR) serves as the base of OK-I for translational motion. The robot body is on top of the base. The third motor controls angular motion of the body as the base turns according to the translational motion. The circular surface connector (CSC) is devised to transfer signals from the base to the body without constraining angular motion of the body. Experimental results show proper omni-directional features of OK-I.