Design and construction of continuous alternate wheels for an omnidirectional mobile robot

@article{Byun2003DesignAC,
  title={Design and construction of continuous alternate wheels for an omnidirectional mobile robot},
  author={Kyung-Seok Byun and Jae-Bok Song},
  journal={J. Field Robotics},
  year={2003},
  volume={20}
}
Many types of omnidirectional wheels with passive rollers have gaps between rollers. Since these gaps cause a wheel to make discontinuous contact with the ground, they lead to vertical and/or horizontal vibrations during wheel operation. In addition, the radii of passive rollers are related to the height of a bump an omnidirectional wheel can surmount. In this research a new design of the alternate wheel is proposed. Because this wheel makes continuous contact with the ground and has… CONTINUE READING