Abstract
Presents an omni-directional mobile robot which can run on offroad and run over an obstacle. The robot is constructed with four crawler-roller-motor-units and a center-body. It is equipped with a crawler-roller running system. Each unit can be driven independently and the motion of the robot is controlled by the speed of motors. We also designed a position and velocity control system for the machine. The robot can be automatically controlled to run in optional directions and in any orbit. The efficiency of the mechanism and the autonomic running method have been verified by many practical running tests and computer simulations.
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