全向差速驱动：轮式机器人同时重构与全向移动
Omni Differential Drive for Simultaneous Reconfiguration and Omnidirectional Mobility of Wheeled Robots
AI总结：
本文提出全向差速驱动模型，利用横向差速调整轮距，使轮式机器人同时实现重构与全向移动，并通过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效率很高。然而，受自由度限制的传统轮式设计难以满足不同的占地需求并实现全向移动。本文提出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）。该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执行器。这种方法使轮式机器人能够同时实现重构和全向移动。此外，开发了一个原型来验证ODD，并进行了运动学分析。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。结果凸显了这种创新驱动系统在增强机器人平台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, limited by degrees of freedom, struggle to meet varying footprint needs and achieve omnidirectional mobility. 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. Additionally, a prototype was developed to validate the ODD, followed by kinematic analysis. Control systems for self-balancing and motion 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。
