Holonomic Motion Drive System of a Social Humanoid Robot SemuBot
Date
2024
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Abstract
The perception of a humanoid robot largely depends on its ability to mimic human-like
movement, including changing its position in space. This thesis conducts a comprehensive
literature review of existing humanoid robot wheelbases, holonomic motion drive systems and
manufacturing methods, identifying the most appropriate solution of a wheelbase for use in
the social humanoid robot SemuBot.
The proposed open-source wheelbase grants holonomic motion, for which omnidirectional
omni-ball wheels were designed and manufactured. It can locomote in environments made for
humans and traverse obstacles. An electrical system was put in place to test the capabilities of
the prototype. The wheelbase is designed to be integrated with other components made for the
humanoid robot SemuBot.
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Keywords
Humanoid robots, Social robots, Holonomic motion, Omnidirectional motion, Open-source, Additive manufacturing, 3D printing