Abstract
In recent years, the aging of underground infrastructures has made it necessary to inspect them efficiently. In order to improve the inspection efficiency of outdoor infrastructure facilities, an omni-directional mobile robot that can move freely in all directions has been investigated. We have measured the acceleration time response of omni-wheels, so as to investigate the effect of the vibration generated by the omni-directional movement mechanism. The acceleration characteristics due to the difference between the direction of movement and the speed of the omni-wheel have been evaluated. It was confirmed that periodic vibration occurred by each moving direction of the Omni wheel. When a moving direction was decided on run speed, we confirmed that the vibration input into all direction movement mechanism could be estimated
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