Experiments for Verifying Basic Behaviors in an Omnidirectional Mobile Platform Using a Rocker-bogie Suspension System

An omnidirectional mobile platform with any active dual-wheel caster assemblies can use general pneumatic tires, so that they are easy to be applied to powered wheelchairs. However, it needs to consider running on public roads in the applications of powered wheelchairs, and it is also essential to improve the running ability that can get over the level difference on the way of running on public roads. This study is aimed at developing an omnidirectional mobile platform with active dual-wheel caster assemblies in consideration of the run in a public road. In this paper, an omnidirectional mobile platform with a rocker-bogie suspension system is developed to improve the running ability, and the usefulness of the constructed platform is demonstrated by conducting various running experiments.