Tetrahedral Mobile Robot with Spherical Omnidirectional Wheel

Kenjiro Tadakuma, Riichiro Tadakuma, Jose Berengueres

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


In this paper, a mobile robot with a tetrahedral shape for its basic structure is presented as a thrown robot for search and rescue robot application. The Tetrahedral Mobile Robot has its body in the center of the whole structure. The driving parts that produce the propelling force are located at each corner. As a driving wheel mechanism, we have developed the “Omni-Ball” with one active and two passive rotational axes, which is explained in detail. An actual prototype model has been developed to illustrate the concept and to perform preliminary motion experiments, through which the basic performance of the Tetrahedral Mobile Robot was confirmed.

Original languageEnglish
Pages (from-to)125-134
Number of pages10
JournalJournal of Robotics and Mechatronics
Issue number1
Publication statusPublished - Feb 2008
Externally publishedYes


  • Omni-Ball
  • omnidirectional movement
  • step climbing
  • tetrahedral shape
  • throwable robot

ASJC Scopus subject areas

  • General Computer Science
  • Electrical and Electronic Engineering


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