让轮式机器人像人一样灵活移动并自动调整体型。
Omni Differential Drive for Simultaneous Reconfiguration and Omnidirectional Mobility of Wheeled Robots
- 用侧向差速控制调节轮距，不加电机实现变形与全向移动
- 原型机验证成功，可同时完成自平衡与全向运动
- 适合需要空间适应性的服务机器人、巡检设备
轮式机器人在人类生活环境中效率高，但传统设计受限于自由度，难以满足不同占地需求且难以实现全向移动。本文提出一种受人类动作启发的新型驱动模型——全向差速驱动（Omni Differential Drive, ODD）。ODD 创新性地利用侧向差速驱动，在不增加额外执行器的前提下，调节轮间距，实现轮式机器人同时具备可重构性与全向移动能力。开发了原型机并进行运动学分析，设计并实现了自平衡与运动控制策略。实验验证了 ODD 机制的可行性及控制方法的有效性，结果表明该驱动系统具有显著提升机器人机动性与环境适应性的潜力。
原文摘要 · Abstract (English)
Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, limited by degrees of freedom, struggle to meet varying footprint needs and achieve omnidirectional mobility. 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. Additionally, a prototype was developed to validate the ODD, followed by kinematic analysis. Control systems for self-balancing and motion 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.
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