Omnidirectional mobile base OK-II

OmniKity-II (OK-II) is a mobile base which is developed as an omnidirectional mobile robot. In this paper the structure of OK-II including actuators, vision and infrared sensors is described. As an application shooting behavior in robot soccer is demonstrated. Fuzzy logic controller from the authors' previous result is used for the shooting action control. The omnidirectional mobility makes the motion control much easier as shown in the experimental results.