OmBURo: A Novel Unicycle Robot with Active Omnidirectional Wheel

Junjie Shen and Dennis Hong
2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France
Abstract
A mobility mechanism for robots to be used in tight spaces shared with people requires it to have a
small footprint, to move omnidirectionally, as well as to be highly maneuverable. However, currently there exist few such mobility mechanisms that satisfy all these conditions well. Here we introduce Omnidirectional Balancing Unicycle Robot (OmBURo), a novel unicycle robot with active omnidirectional wheel. The effect is that the unicycle robot can drive in both longitudinal and lateral directions simultaneously. Thus, it can dynamically balance itself based on the principle of dual-axis wheeled inverted pendulum. This paper discloses the early development of this novel unicycle robot involving the overall design, modeling, and control, as well as presents some preliminary results including station keeping and path following. With its very compact structure and agile mobility, it might be the ideal locomotion mechanism for robots to be used in human environments in the future.
Link: ieeexplore.iee...

[@mateusheinenfeltrin2474]

An incredible and unbelievable device! Now just need a control of yawl angle by a reaction wheel or another type of actuator.

[@junjieshen2008]

Thanks! That will work!

[@_Piers_]

Excellent!

[@junjieshen2008]

Thanks!

[@dukernuker3844]

so far only real try to build claptrap robot. Wish it be bigger with more massive wheel.

[@JeremyCook]

Nice work. So when the two motors spin at the same speed, does that keep the rollers from turning?

[@junjieshen2008]

Exactly! The rollers will turn only when there is a speed difference.

[@dvdny]

@@junjieshen2008 Like an electronic differential. Nice.

[@junjieshen2008]

@@dvdny Thanks!

[@scoobydoow7988]

Is the rollers motion responsible for lateral stability?

[@junjieshen2008]

Yes, the control is decoupled in the longitudinal and lateral directions via the main wheel and rollers, respectively.

[@scoobydoow7988]

Thankyou so much for your response , and btw your project is really amazing and helpful!!

[@junjieshen2008]

@@scoobydoow7988 Thanks!!!

[@rohitshailesh3449]

awesome project!...did u 3D print the wheels??

[@junjieshen2008]

Ya and most other parts as well!

[@m0nty90]

very well done

[@junjieshen2008]

appreciate it

[@gondala]

Great work!!

[@junjieshen2008]

Thanks!!

[@gondala]

@@junjieshen2008 you have good result but why you submit to arxvin?

[@junjieshen2008]

@@gondala actually got accepted for ICRA 2020 a week ago and it's just a copy on arxvin before publication

[@gondala]

@@junjieshen2008 may i have your paper in icra? Please send to [e-mail]

[@junjieshen2008]

@@gondala Here you go! arxiv.org/abs/2001.07856

[@s0me1usaw]

Amazing Im a kid and i wanna learn it some day

[@junjieshen2008]

Go ahead!

[@Gandagorn]

How are the two motors coupled to one shaft?

[@junjieshen2008]

It's not a single shaft. You can check the paper for the detailed CAD model. arxiv.org/abs/2001.07856

[@user-ji8ws6sm6r]

Hello
Are there files for this project?
Because I like to do the same

[@junjieshen2008]

Here you go! arxiv.org/abs/2001.07856

[@user-ji8ws6sm6r]

@@junjieshen2008 Thanks

[@rohitmishra4640]

hey! awesome project!!! can you make it opensource?

[@junjieshen2008]

thanks! the paper should explain everything clearly arxiv.org/abs/2001.07856

[@rohitmishra4640]

@@junjieshen2008 it's perfect! thanks again!

[@yoloswaggins1579]

*Boston Dynamics wants to know your location.*

[@junjieshen2008]

haha shh

[@monihani7991]

can you state the hardware component used ?

[@monihani7991]

and the code ?