Abstract
In this paper, a wheeled inverted pendulum type power-assist mobile platform that can realize omni-directional motion is proposed. The omni-directional mechanism consists of three omni-directional wheels located at the bottom of the mobile platform. The two wheels are located at the left and right side of the platform as a conventional two-wheeled mobile platform, and other one is located between the two wheels, which has an axis perpendicular to those of two wheels. A power assist motion is achieved by inclining the body to forward direction, and a turning motion and a side moving motion is realized by a joystick. Through a simple deriving experiment, it was confirmed that the proposed mobile platform could achieve an omni-directional motion and a power assist motion.
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