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ODD: Omni Differential Drive for Simultaneous Reconfiguration and Omnidirectional Mobility of Wheeled Robots

Ziqi Zhao, Peijia Xie, Max Q. -H. Meng

TL;DR

The paper addresses the longstanding trade-off among passability, agility, and stability in wheeled robots operating in human environments. It introduces the Omni Differential Drive (ODD), a reconfigurable omnidirectional drive that varies wheel spacing $d$ via a lateral differential mechanism without adding actuators, enabling simultaneous reconfiguration and omnidirectional mobility. A prototype based on two collinear Mecanum wheel groups demonstrates the feasibility, supported by kinematic modeling and a Parallel Cascade PID control architecture for balancing, steering, and spacing, with experimental validation of mobility, reconfiguration, and passability. The work offers a practical pathway to more adaptable mobile platforms suitable for tight indoor spaces and dynamic environments, with future directions including broader chassis integration, dynamic modeling, and enhanced path planning.

Abstract

Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, with their limited degrees of freedom and constraints in robot configuration, struggle to simultaneously achieve stability, passability, and agility due to varying footprint needs. This paper proposes a novel robot drive model inspired by human movements, termed as the Omni Differential Drive (ODD). The ODD model innovatively utilizes a lateral differential drive to adjust wheel spacing without adding additional actuators to the existing omnidirectional drive. This approach enables wheeled robots to achieve both simultaneous reconfiguration and omnidirectional mobility. To validate the feasibility of the ODD model, a functional prototype was developed, followed by comprehensive kinematic analyses. Control systems for self-balancing and motion control were designed and implemented. Experimental validations confirmed the feasibility of the ODD mechanism and the effectiveness of the control strategies. The results underline the potential of this innovative drive system to enhance the mobility and adaptability of robotic platforms.

ODD: Omni Differential Drive for Simultaneous Reconfiguration and Omnidirectional Mobility of Wheeled Robots

TL;DR

The paper addresses the longstanding trade-off among passability, agility, and stability in wheeled robots operating in human environments. It introduces the Omni Differential Drive (ODD), a reconfigurable omnidirectional drive that varies wheel spacing via a lateral differential mechanism without adding actuators, enabling simultaneous reconfiguration and omnidirectional mobility. A prototype based on two collinear Mecanum wheel groups demonstrates the feasibility, supported by kinematic modeling and a Parallel Cascade PID control architecture for balancing, steering, and spacing, with experimental validation of mobility, reconfiguration, and passability. The work offers a practical pathway to more adaptable mobile platforms suitable for tight indoor spaces and dynamic environments, with future directions including broader chassis integration, dynamic modeling, and enhanced path planning.

Abstract

Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, with their limited degrees of freedom and constraints in robot configuration, struggle to simultaneously achieve stability, passability, and agility due to varying footprint needs. This paper proposes a novel robot drive model inspired by human movements, termed as the Omni Differential Drive (ODD). The ODD model innovatively utilizes a lateral differential drive to adjust wheel spacing without adding additional actuators to the existing omnidirectional drive. This approach enables wheeled robots to achieve both simultaneous reconfiguration and omnidirectional mobility. To validate the feasibility of the ODD model, a functional prototype was developed, followed by comprehensive kinematic analyses. Control systems for self-balancing and motion control were designed and implemented. Experimental validations confirmed the feasibility of the ODD mechanism and the effectiveness of the control strategies. The results underline the potential of this innovative drive system to enhance the mobility and adaptability of robotic platforms.
Paper Structure (24 sections, 10 equations, 9 figures)

This paper contains 24 sections, 10 equations, 9 figures.

Table of Contents

  1. Introduction
  2. Concept
  3. Inspired by Human Movements
  4. Robotics Applications
  5. Omni Differential Drive
  6. Prototype Design
  7. Active Omnidirectional Wheel
  8. suspension system
  9. Linear slides
  10. Self-Centering Platform
  11. Sensors
  12. Other Components
  13. Modeling and Control
  14. Kinematics Model
  15. Control Architecture
  16. ...and 9 more sections

Figures (9)

  • Figure 1: Proposed Prototype which can simultaneous reconfigure and omnidirectional mobile using the Omni Differential Drive (ODD).
  • Figure 2: Analogy between human movements and wheeled mobility. (a) Side-view standing or lateral walking. (b) Front-view Standing or longitudinal walking. (c) Boxing. (d) Kung Fu. (e) Obstacle crossing.
  • Figure 3: Models of drive methods. (a) Differential Drive (DD). (b) Omnidirectional Drive (OD). (c) Proposed Omni Differential Drive (ODD).
  • Figure 4: Components of proposed prototype. (a) Overall structure and dimensions. (b) Self-centering platform.
  • Figure 5: Coordinates and parameters for the proposed prototype.
  • ...and 4 more figures