Omnidirectional mobile robot capable of variable footprinting based on hub-type drive module

Hyo Joong Kim, Chang Nho Cho, Hwi Su Kim, Jae Bok Song

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


In recent years, an increased amount of research has been carried out on mobile robots to improve the performance of service robots. Mobile robots maximize the mobility of service robots, thus allowing them to work in different areas. However, conventional service robots have their center of mass placed high above the ground, which may cause them to fall when moving at high speed. Furthermore, hub-type actuators, which are often used for mobile robots, are large and expensive. In this study, we propose a mobile robot with a hub-type actuator unit and a variable footprint mechanism. The proposed variable footprint mechanism greatly improves the stability and mobility of the robot, allowing it to move freely in a narrow space and carry out various tasks. The performance of the proposed robot is verified experimentally.

Original languageEnglish
Pages (from-to)289-295
Number of pages7
JournalTransactions of the Korean Society of Mechanical Engineers, A
Issue number3
Publication statusPublished - 2012 Mar


  • Hub-Type driving module
  • Mobile robot
  • Mobility
  • Omni-Directional
  • Stability
  • Variable footprint mechanism

ASJC Scopus subject areas

  • Mechanical Engineering


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