• Journal of the Institute of Convergence Signal Processing
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• v.23 no.1
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• pp.21-27
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• 2022

Traditional automobile or 2-wheeled robot have limitations on mobility because of their mechanical structure. As traditional automobile is being replaced by electric cars, robot technology is applied to the car industry. In robotics, many researchers worked on omnidirectional mobile robot and produced lots of noticeable results. However in many of the results, specialized wheels such as Mecanum wheels are required. That imposes restrictions on robot speed and outdoor driving. We proposed a 2-wheeled modular robot that has omnidirectional mobility without using specialized wheels. In this paper, we propose a 4-wheeled omnidirectional mobile robot that consists of those two modular robots. The proposed robot adopts electric brakes to combine wheel housings and the robot body or to separate wheel housings from the robot body. Two absolute-type encoders and four incremental encoders are used to control the position of the wheel housing and velocities of the wheels. The proposed robot has omnidirectional mobility and can move fast and outdoor with normal tire wheels. We implemented the proposed robot and the feasibility and stability of the robot is verified by two separate experiments.