Energy efficient drive of an omnidirectional mobile robot with steerable omnidirectional wheels

Jae Bok Song, Jeong Keun Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


in this paper the second version of the omnidirectional mobile robot with steerable omnidirectional wheels (OMR-SOW) is presented. This robot can operate in either the omnidirectional or the differential drive mode depending on the drive conditions. in the omnidirectional mode, it has 3 DOFs in motion and 1 DOF in steering which can function as a continuously-variable transmission (CVT). The CVT function can be used to enhance energy efficiency of the robot operation by increasing the range of velocity ratio of the robot velocity to wheel velocity. Kinematics and dynamics of this robot are examined. in the proposed steering algorithm, the steering angle is controlled so that motors may operate in the region of high velocity and low torque, thus generating the maximum energy efficiency. Various tests show that motion control of the OMR-SOW works satisfactorily and the proposed steering algorithm for CVT can provide higher energy efficiency than the algorithm using a fixed steering angle. in addition, it is shown that the differential drive mode can give better energy efficiency the omnidirectional drive mode.

Original languageEnglish
Title of host publicationProceedings of the 16th IFAC World Congress, IFAC 2005
PublisherIFAC Secretariat
Number of pages6
ISBN (Print)008045108X, 9780080451084
Publication statusPublished - 2005

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)1474-6670

Bibliographical note

Funding Information:
This work was supported by grant No. (R01-2003-000-10336-0) from the Basic Research Program of the Korea Science & Engineering Foundation.


  • Continuously-variable transmission (cvt)
  • Energy efficient drive
  • Omnidirectional mobile robot
  • Steering algorithm

ASJC Scopus subject areas

  • Control and Systems Engineering


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