Permanent Magnet-Assisted Omnidirectional Ball Drive

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  • Presented at: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, October 9-14, 2016
  • Accepted in: Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • IEEE, 2016

We present an omnidirectional ball wheel drive design that utilizes a permanent magnet as the drive roller to generate the contact force. Particularly interesting for novel human-mobile robot interaction scenarios where the users are expected to physically interact with many palm-sized robots, our design combines simplicity, low cost and compactness. We first detail our design and explain its key parameters. Then, we present our implementation and compare it with an omniwheel drive built with identical conditions and similar cost. Finally, we elaborate on the main advantages and drawbacks of our design.

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