Experimental Verification of Stabilizing Effect of Double-Row Active Omni Wheel

The double-row active omni wheel (DAOW) has been proposed to achieve omnidirectional mobility with low vibration and a simple structure compared to the conventional design. According to a kinetic analysis, the DAOW was found to have a stabilizing effect on single-track vehicles in the roll direction, but this phenomenon has not yet been confirmed in the real world. With this in mind, this paper aims to experimentally verify the posture-stabilizing effect of the DAOW. We first analyze the results of a previous study and discuss the conditions for establishing the stabilizing effect. Then, we design a modified prototype vehicle and conduct an experiment. The result indicates that the prototype vehicle maintains its balance for a certain period and exhibits the behavior of the stabilizing effect.