Development of a new omnidirectional robot with one spherical wheel

하나의 구형바퀴를 가지는 새로운 전 방향 이동로보트의 개발

In this paper, a new onmidirectional robot with one spherical wheel is porposed. The peculiar structure of the proposed mobile robot makes it possible not only to move sideways but to be easy to implement. The wheel is derived by two stepping motors and equipped with 8-infrared sensors. To prove the validity of the proposed robot, the experiment of going through a way is performed.