ODD：用于轮式机器人同时重构与全向移动的全向差速驱动
ODD: Omni Differential Drive for Simultaneous Reconfiguration and Omnidirectional Mobility of Wheeled Robots
AI总结：
针对传统轮式机器人难以兼顾稳定性、通过性与灵活性的问题，提出受人类运动启发的全向差速驱动（ODD）模型，通过横向差速调整轮距实现重构与全向移动，并经原型和实验验证其可行性与控制有效性。
摘要：
轮式机器人在人类生活环境中具有高效率。然而，传统的轮式设计因其自由度有限且机器人构型受限，在需要不同占地面积的情况下，难以同时实现稳定性、通过性和灵活性。本文提出了一种受人类运动启发的新型机器人驱动模型，称为全向差速驱动（ODD）。ODD模型创新性地利用横向差速驱动来调整轮距，而无需在现有全向驱动上增加额外的执行器。该方法使轮式机器人能够同时实现重构和全向移动。为验证ODD模型的可行性，开发了一个功能原型，并进行了全面的运动学分析。设计并实现了自平衡和运动控制系统。实验验证确认了ODD机制的可行性和控制策略的有效性。结果突显了这种创新驱动系统在增强机器人平台的移动性和适应性方面的潜力。
英文摘要：
Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, with their limited degrees of freedom and constraints in robot configuration, struggle to simultaneously achieve stability, passability, and agility due to varying footprint needs. This paper proposes a novel robot drive model inspired by human movements, termed as the Omni Differential Drive (ODD). The ODD model innovatively utilizes a lateral differential drive to adjust wheel spacing without adding additional actuators to the existing omnidirectional drive. This approach enables wheeled robots to achieve both simultaneous reconfiguration and omnidirectional mobility. To validate the feasibility of the ODD model, a functional prototype was developed, followed by comprehensive kinematic analyses. Control systems for self-balancing and motion control were designed and implemented. Experimental validations confirmed the feasibility of the ODD mechanism and the effectiveness of the control strategies. The results underline the potential of this innovative drive system to enhance the mobility and adaptability of robotic platforms.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
