SO(2) and SO(3), omni-directional personal mobility with link-driven spherical wheels

There are many researches about mobile robot with a varied wheel. Mobile robots or mobilities with wheels such like a car or bike have non-holonomic constraint and then it is difficult to move toward wheel´s axis direction. Namely, it is impossible to move toward omni-direction due to the constraints by wheel´s mechanical structure. Omni-directional movement means the mobility can move toward any direction at anytime. This paper adapted link-driven spherical wheel as an omnidirectional wheel and solved singularity problem caused by mechanical structure of it. We developed omni-directional mobilities( SO(2) and SO(3)) installing link-driven spherical wheels and experimented omni-directional movement with designed controllers.