プロジェクト憲章¶
1. 研究背景¶
現在，一般的な四輪車両の操舵方式として，前輪を操舵して旋回する前輪操舵（Two-Wheel Steering：2WS）や，前輪および後輪の両方を操舵する四輪操舵（Four-Wheel Steering：4WS）が広く用いられている．これらの方式では，車輪の操舵角に機械的な限界が存在するため，車両の進行方向や旋回方向には一定の制約が生じる．特に，産業現場における物資搬送では，狭い作業空間や限られた通路内での走行，車両の姿勢を維持したままの方向転換など，一般的な車両よりも高い運動性能が要求される．
産業用搬送車両や移動ロボットにおいて，狭隘な作業空間内における高い移動性能や位置決め性能を実現するためには，車体の向きを変更することなく任意方向へ移動可能な全方向移動機構が重要である．全方向移動機構としては，オムニホイールやメカナムホイールを用いた移動機構が広く研究・利用されている．これらの機構は，車輪の構造的特徴を利用することにより，前後方向だけでなく横方向への移動を可能とし，旋回運動と組み合わせることで高い運動自由度を実現できる．
特にメカナムホイールは，車輪外周に複数の受動ローラを配置した構造を有しており，各ローラの回転によって車輪の回転方向とは異なる方向への速度成分を生成することができる．このため，メカナムホイールを搭載した移動ロボットは，前後・左右・斜め方向への並進運動およびその場旋回を実現でき，工場や倉庫などの限られた作業空間における搬送用途に適している．一方で，メカナムホイールは通常の車輪と比較して接地機構が複雑であり，走行時にローラと路面との間でスリップが発生することが知られている．[1]
また，メカナムホイールでは，ローラの配置および接触状態に起因する振動が発生することも指摘されている．産業用重量物搬送を想定したメカナムホイール式全方向移動ロボットについて，メカナムホイールの転がり半径の変動によりスリップや振動が生じ，姿勢推定および軌道追従性能に影響を及ぼす可能性が示される．[2]
さらに，メカナムホイールを用いた移動ロボットでは，路面状態によってスリップ特性が変化することも報告されており，走行性能を安定させるためには接地状態を考慮した制御が必要となる．[1,3]
このように，メカナムホイールは高い移動自由度を有する一方で，特殊なローラ機構に起因するスリップや振動が走行性能に影響を及ぼす可能性がある．そのため，重量物の搬送や高い位置決め精度が要求される産業用途においては，特殊車輪を用いずに全方向移動を実現する機構について検討することが有用である．
このような全方向移動を実現する手法の一つとして，通常の車輪に駆動および操舵機能を独立して付与する四輪独立駆動・操舵方式（Four-Wheel Independent Drive and Four-Wheel Independent Steering：4WID-4WIS）が挙げられる。4WID-4WIS方式では，各車輪の駆動速度および操舵角を独立に制御することにより，車体の並進運動および旋回運動を高い自由度で実現できる。4WID-4WIS移動ロボットの運動学，動力学および制御については既に研究が行われており，各車輪の駆動および操舵を統合的に制御することで，高い運動性能を実現できることが示されている．[4]
さらに，4WID-4WIS車両は，四輪それぞれの駆動力および操舵角を独立に制御できることから，通常の車両と比較して高い運動自由度を有する．この特徴を利用した車両の運動制御や安定性制御に関する研究も数多く行われている．[5]
一方で，各車輪に駆動機構と操舵機構を個別に設ける場合，車輪一輪当たり複数のアクチュエータおよび減速機構が必要となる．その結果，車両全体の機構が大型化・重量化するとともに，動力伝達系が複雑になるという課題が生じる．
近年では，駆動機能と操舵機能を一つの車輪周辺機構に統合したコーナーモジュールについても研究されている．例えば，駆動用モータと操舵用モータを車輪ごとに配置する構成は，各車輪の駆動および操舵を独立に制御できるため，4WID-4WIS車両を実現するための有効な構成の一つである．[6]
しかしながら，このような構成においても複数のアクチュエータを必要とするため，限られた空間内に駆動および操舵機構を配置する場合には，機構の小型化および動力伝達系の簡素化が重要な課題となる．
したがって，通常の車輪による転がり接触を利用しながら4WID-4WIS方式の高い移動自由度を実現し，かつ駆動機構と操舵機構をコンパクトに統合するための機械要素および動力伝達機構の開発が求められる．
2. 研究目的¶
そこで本研究では，通常の車輪を用いた全方向移動車両の実現を目的として，駆動機能と操舵機能を統合した四輪駆動・操舵ユニットを提案する。本研究で提案する機構では，差動遊星歯車機構を利用することにより，一つの機構内に駆動および操舵のための動力伝達経路を構成する．これにより，複数のアクチュエータから入力される回転運動を適切に分配し，車輪の回転運動と操舵運動を独立して実現することを目指す．
差動遊星歯車機構は，複数の回転要素間における回転速度およびトルクの関係を利用して動力を分配できる機構であり，限られた空間内で複数の運動を実現する機械要素として利用可能である。本研究ではこの特徴に着目し，駆動および操舵のための動力伝達機構を統合することで，従来の4WID-4WIS方式における機構の大型化および複雑化の低減を図る．
本研究では，まず差動遊星歯車機構を用いた四輪駆動・操舵ユニットの機構設計を行い，試作機を製作する。次に，製作した試作機を用いて駆動動作および操舵動作を実施し，各機構要素の運動状態を確認する．さらに，入力回転速度と出力回転速度の関係，操舵角と入力運動の関係，ならびに駆動および操舵時における動力伝達特性を実験的に評価する．これらの結果と機構学的に導出した理論値を比較することで，提案機構における運動伝達の妥当性を検証する．
以上より，本研究の目的は，差動遊星歯車機構を用いて駆動機能と操舵機能を統合した四輪駆動・操舵ユニットを設計・製作し，その機構的成立性ならびに駆動・操舵動作における基本的な運動および動力伝達特性を実験的に明らかにすることである．
参考文献¶
[1]Kim, S., Lee, C., Chu, B., “Damping and transfer control of a spherical pendulum with omni-directional mobile robot having mecanum wheels,” Journal of the Korean Society for Precision Engineering, Vol.37, No.1, pp.35–42, 2020, DOI: 10.7736/JKSPE.019.082.
[2]Galati, R., Mantriota, G., Reina, G., “Adaptive heading correction for an industrial heavy-duty omnidirectional robot,” Scientific Reports, Vol.12, 19608, 2022.
[3]Nishida, K., and Igarashi, H., “Skid correction of Omnidirectional Mobile Robot by Disturbance Observer and Slip Control,” The Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP, 2017, Session ID: G-03, DOI: 10.1299/jsmeiip.2017.G-03.
[4]Lee, K. et al., “Kinematics, dynamics and control design of 4WIS4WID mobile robots,” The Journal of Engineering, 2015, DOI: 10.1049/JOE.2014.0241.
[5]Hang, P., Chen, X., “Towards Autonomous Driving: Review and Perspectives on Configuration and Control of Four-Wheel Independent Drive/Steering Electric Vehicles,” Actuators, Vol.10, No.8, 184, 2021.
[6]Ito, A., and Azuma, S., “Four-wheel Independent Steering Control System Based on Broadcast Control,” Transactions of the Institute of Systems, Control and Information Engineers, Vol. 39, No. 1, pp. 10–20, 2026, DOI: 10.5687/iscie.39.10.
以下、米英訳
In English
1. Research Background¶
Steering systems for conventional four-wheeled vehicles can generally be classified into two-wheel steering (2WS), in which the front wheels are steered to control vehicle motion, and four-wheel steering (4WS), in which both the front and rear wheels are steered. In these conventional steering systems, the steering angle of each wheel is mechanically constrained, thereby limiting the possible direction of vehicle travel and turning motion. This limitation becomes particularly significant in industrial material-handling applications, where vehicles are often required to operate in confined workspaces and narrow aisles and, in some cases, to change their direction of travel while maintaining the orientation of the vehicle body.
To address these mobility requirements, omnidirectional drive systems employing omni wheels and Mecanum wheels have been extensively investigated and applied to industrial transport vehicles and mobile robots. These wheel mechanisms exploit the geometric characteristics of passive rollers to generate velocity components in directions other than the primary rolling direction. As a result, vehicles equipped with such wheels can achieve lateral and longitudinal translation as well as rotational motion, providing a high degree of maneuverability in confined environments.
Among these systems, Mecanum wheels consist of multiple passive rollers arranged around the circumference of the wheel. The rollers are typically inclined with respect to the wheel axis, allowing the rotational motion of the wheel to be converted into a velocity component transverse to its primary rolling direction. By appropriately controlling the rotational velocities of multiple Mecanum wheels, a mobile robot can perform forward and backward translation, lateral translation, diagonal motion, and in-place rotation. These characteristics make Mecanum-wheel vehicles particularly attractive for material-handling applications in factories, warehouses, and other environments where maneuverability within restricted spaces is required. However, unlike conventional wheels, Mecanum wheels have a complex wheel–ground contact mechanism, and relative slip between the rollers and the ground can occur during operation [1].
In addition to slip, vibration is another important issue associated with Mecanum-wheel mechanisms. Because the rollers are discretely arranged around the wheel circumference, the effective rolling radius and contact conditions can vary during wheel rotation. In heavy-duty industrial omnidirectional mobile robots, such variations have been reported to induce slip and vibration, which can adversely affect vehicle attitude estimation and trajectory-tracking performance [2]. Furthermore, the slip characteristics of Mecanum-wheel mobile robots depend strongly on the condition of the ground surface. Consequently, appropriate consideration of wheel–ground contact conditions and slip compensation is required to maintain stable and accurate vehicle motion [1,3].
Thus, although Mecanum wheels provide excellent omnidirectional mobility, their characteristic roller-based contact mechanism can introduce slip and vibration, potentially degrading the driving performance and positioning accuracy of the vehicle. These issues are particularly important in industrial applications involving the transportation of heavy loads, where stable motion and accurate positioning are essential. Therefore, an alternative mechanism capable of providing omnidirectional mobility while maintaining conventional rolling contact between the wheels and the ground is of considerable interest.
One promising approach is four-wheel independent drive and four-wheel independent steering (4WID-4WIS), in which the driving and steering functions of all four wheels are independently controlled. In a 4WID-4WIS system, the driving velocity and steering angle of each wheel can be controlled independently, allowing the vehicle to generate translational and rotational motions with a high degree of freedom. The kinematics, dynamics, and control of 4WID-4WIS mobile robots have been extensively investigated, and previous studies have demonstrated that high vehicle mobility can be achieved through the coordinated control of the driving and steering motions of individual wheels [4].
The independent controllability of the driving force and steering angle at each wheel also enables 4WID-4WIS vehicles to achieve a wider range of motion than conventional steering configurations. Accordingly, this architecture has been investigated for various applications involving vehicle motion control, stability control, and autonomous driving [5]. In particular, the ability to independently control all four wheels provides considerable flexibility in generating vehicle trajectories and adapting vehicle motion to different operating conditions.
However, the high mobility of 4WID-4WIS systems is achieved at the expense of increased mechanical complexity. Independent driving and steering mechanisms generally require multiple actuators, reduction mechanisms, and associated power-transmission components for each wheel. Consequently, the overall vehicle system can become larger and heavier, while the mechanical structure and power-transmission system become more complicated. These issues are particularly restrictive when the drive and steering mechanisms must be accommodated within the limited space available around each wheel.
To address this issue, wheel-side corner modules that integrate the driving and steering functions have also been investigated. For example, a configuration in which an individual drive motor and steering motor are installed at each wheel can provide independent control of both functions while forming a compact 4WID-4WIS architecture [6]. Such configurations simplify the allocation of the driving and steering functions at each wheel and can improve the flexibility of vehicle design. Nevertheless, they still require multiple actuators and associated transmission mechanisms. Therefore, further reduction in the size and complexity of the mechanical system remains an important challenge, particularly for applications in which the available installation space is limited.
Accordingly, there is a need for a mechanical mechanism and power-transmission architecture that can provide the high mobility of a 4WID-4WIS vehicle while retaining conventional wheel–ground rolling contact and integrating the driving and steering functions into a compact structure. Such a mechanism could potentially provide the mobility advantages of omnidirectional vehicles while avoiding some of the slip and vibration characteristics associated with specialized omnidirectional wheels.
2. Research Objective¶
In this study, a four-wheel independent drive and steering unit that integrates the driving and steering functions is proposed for an omnidirectional mobile vehicle equipped with conventional wheels. The proposed mechanism employs a differential planetary gear mechanism to establish power-transmission paths for both wheel driving and steering within a single mechanical unit. By appropriately distributing rotational inputs from multiple actuators through the differential planetary gear mechanism, the proposed system is designed to independently generate the rotational motion of the wheel and the steering motion of the wheel assembly.
A differential planetary gear mechanism can distribute rotational motion and torque among multiple rotating elements according to their kinematic relationships. This characteristic enables multiple mechanical functions to be integrated within a relatively compact space. In the proposed system, this principle is utilized to integrate the power-transmission mechanisms for driving and steering, with the objective of reducing the size and mechanical complexity of the wheel module compared with conventional 4WID-4WIS configurations.
First, a four-wheel independent drive and steering unit incorporating a differential planetary gear mechanism is designed and fabricated. The prototype is then operated to verify the fundamental driving and steering motions of the individual mechanical components. In addition, the relationships between the input and output rotational speeds, the relationship between the steering angle and the corresponding input motion, and the power-transmission characteristics during driving and steering operations are experimentally investigated.
The experimental results are compared with theoretical values obtained from kinematic analysis to evaluate the validity of the proposed motion-transmission mechanism. Through these experiments, the fundamental mechanical behavior of the proposed unit and the feasibility of independently transmitting driving and steering motions are examined.
Therefore, the objective of this study is to design and fabricate a four-wheel independent drive and steering unit that integrates the driving and steering functions through a differential planetary gear mechanism, and to experimentally investigate the mechanical feasibility, fundamental motion characteristics, and power-transmission characteristics of the proposed mechanism during driving and steering operations. The results are intended to provide a fundamental basis for the development of a compact omnidirectional vehicle mechanism using conventional wheels.
References¶
[1]Kim, S., Lee, C., Chu, B., “Damping and transfer control of a spherical pendulum with omni-directional mobile robot having mecanum wheels,” Journal of the Korean Society for Precision Engineering, Vol.37, No.1, pp.35–42, 2020, DOI: 10.7736/JKSPE.019.082.
[2] Galati, R., Mantriota, G., and Reina, G., “Adaptive Heading Correction for an Industrial Heavy-Duty Omnidirectional Robot,” Scientific Reports, Vol. 12, 19608, 2022.
[3] Nishida, K. and Igarashi, H., “Skid Correction of Omnidirectional Mobile Robot by Disturbance Observer and Slip Control,” The Proceedings of the Conference on Information, Intelligence and Precision Equipment: IIP, 2017, Session ID: G-03, DOI: 10.1299/jsmeiip.2017.G-03.
[4] Lee, K. et al., “Kinematics, Dynamics and Control Design of 4WIS4WID Mobile Robots,” The Journal of Engineering, 2015, DOI: 10.1049/JOE.2014.0241.
[5] Hang, P. and Chen, X., “Towards Autonomous Driving: Review and Perspectives on Configuration and Control of Four-Wheel Independent Drive/Steering Electric Vehicles,” Actuators, Vol. 10, No. 8, 184, 2021.
[6] Ito, A. and Azuma, S., “Four-wheel Independent Steering Control System Based on Broadcast Control,” Transactions of the Institute of Systems, Control and Information Engineers, Vol. 39, No. 1, pp. 10–20, 2026, DOI: 10.5687/iscie.39.10.
以下、大日本帝國憲法風訳
壱、硏究背景¶
現今、一般ノ四輪車兩ニ於ケル操舵方式トシテ、前輪ヲ操舵シテ旋回スル前輪操舵（Two-Wheel Steering：2WS）及前後輪ヲ操舵スル四輪操舵（Four-Wheel Steering：4WS）廣ク用ヰラル。然レドモ、此等ノ方式ニ於テハ車輪ノ操舵角ニ一定ノ限界存スルヲ以テ、車兩ノ進行方向及旋回方向ニ制約ヲ生ズルモノトス。
殊ニ産業現場ニ於ケル物資搬送ニ際シテハ、狹隘ナル作業空閒又ハ限ラレタル通路内ヲ走行シ、且ツ車兩ノ姿勢ヲ維持シタル儘方向轉換スル等、通常ノ車兩ニ比シ更ニ髙キ運動性能ヲ要スル場合少カラズ。
故ニ、産業用搬送車兩及移動ロボットニ於テ、狹隘ナル作業空閒内ニ於ケル移動性能及位置決メ性能ヲ向上セシムル爲、車體ノ向キヲ變更スルコト無ク任意ノ方向ニ移動シ得ル全方向移動機構ハ、重要ナル機構ノ一ツト謂フベシ。
全方向移動機構トシテハ、オムニホイール及メカナムホイールヲ用ヰタル方式廣ク硏究及實用ニ供セラル。此等ノ機構ハ、車輪ノ構造上ノ特性ヲ利用シ、前後方向ノ移動ノミナラズ左右方向ノ移動ヲモ可能トシ、之ニ旋回運動ヲ組合スルコトニ依リ、髙キ運動自由度ヲ實現スルモノナリ。
就中、メカナムホイールハ車輪外周ニ複數ノ受動ローラヲ配置シタル構造ヲ有シ、各ローラノ回轉ニ依リ、車輪本體ノ回轉方向ト異ナル方向ニ速度成分ヲ發生セシムルコトヲ得。之ニ依リ、メカナムホイールヲ備ヘタル移動ロボットハ、前後・左右・斜方向ノ竝進運動及其ノ場旋回ヲ實現スルコトヲ得、工場又ハ倉庫等ノ限ラレタル作業空閒ニ於ケル搬送用途ニ適スルモノナリ。
然レドモ、メカナムホイールハ通常ノ車輪ニ比シ接地機構複雜ニシテ、走行時ニ於テローラト路面トノ閒ニ滑リヲ生ズルコトアルハ既ニ指摘セラレタル所ナリ。[1]
又、メカナムホイールニ於テハ、ローラノ配置及接觸狀態ニ起因スル振動ヲ生ズルコトアリ。産業用重量物搬送ヲ目的トシタルメカナムホイール式全方向移動ロボットニ關スル硏究ニ於テハ、メカナムホイールノ轉ガリ半径ノ變動ニ依リ滑リ及振動ヲ生ジ、姿勢推定及軌道追從性能ニ影響ヲ及ボス可能性アルコト示サレタリ。[2]
更ニ、メカナムホイールヲ用ヰタル移動ロボットニ於テハ、路面狀態ニ依リ滑リ特性變化スルコトモ報告セラレ、走行性能ヲ安定セシムル爲ニハ接地狀態ヲ考慮シタル制御ヲ要スルモノトス。[1,3]
是ノ如ク、メカナムホイールハ髙キ移動自由度ヲ有スル一方、特殊ナルローラ機構ニ起因スル滑リ及振動ガ走行性能ニ影響ヲ及ボス虞アリ。故ニ、重量物ノ搬送又ハ髙キ位置決メ精度ヲ要求セラルル産業用途ニ於テハ、特殊車輪ヲ用ヰルコト無ク全方向移動ヲ實現スル機構ヲ硏究スルコト、極メテ有用ナルモノトス。
此ノ如キ全方向移動ヲ實現スル方法ノ一ツトシテ、通常ノ車輪ニ驅動及操舵機能ヲ獨立シテ附與スル四輪獨立驅動・操舵方式（Four-Wheel Independent Drive and Four-Wheel Independent Steering：4WID-4WIS）ヲ擧グルコトヲ得。
4WID-4WIS方式ニ於テハ、各車輪ノ驅動速度及操舵角ヲ獨立シテ制御スルコトニ依リ、車體ノ竝進運動及旋回運動ヲ髙キ自由度ヲ以テ實現スルコトヲ得。4WID-4WIS移動ロボットノ運動學、動力學及制御ニ關シテハ既ニ硏究行ハレ、各車輪ノ驅動及操舵ヲ統合的ニ制御スルコトニ依リ、髙キ運動性能ヲ實現シ得ルコト示サレタリ。[4]
又、4WID-4WIS車兩ハ四輪各々ノ驅動力及操舵角ヲ獨立シテ制御スルコトヲ得ルヲ以テ、通常ノ車兩ニ比シ髙キ運動自由度ヲ有スルモノナリ。此ノ特性ヲ利用シタル車兩運動制御及安定性制御ニ關スル硏究モ數多ク行ハレタリ。[5]
然ルニ、各車輪ニ驅動機構及操舵機構ヲ個別ニ設置スル場合、車輪一輪ニ付複數ノアクチュエータ及減速機構ヲ必要トス。其ノ結果、車兩全體ノ機構大型化シ、重量增加シ、且ツ動力傳逹系複雜化スルノ課題生ズ。
近時ニ於テハ、驅動機能及操舵機能ヲ一個ノ車輪周邊機構ニ統合シタルコーナーモジュールニ關スル硏究モ行ハレタリ。例ヘバ驅動用モータ及操舵用モータヲ車輪每ニ配置スル構成ハ、各車輪ノ驅動及操舵ヲ獨立シテ制御シ得ルヲ以テ、4WID-4WIS車兩ヲ實現スル有效ナル構成ノ一ツト謂フベシ。[6]
然レドモ、此ノ構成ニ於テモ複數ノアクチュエータヲ必要トスルヲ以テ、限ラレタル空閒内ニ驅動及操舵機構ヲ配置セントスル場合、機構ノ小型化及動力傳逹系ノ簡素化ハ重要ナル課題トナルモノナリ。
依テ、通常ノ車輪ニ依ル轉ガリ接觸ヲ利用シツツ4WID-4WIS方式ノ髙キ移動自由度ヲ實現シ、且ツ驅動機構及操舵機構ヲ小型ニ統合スル爲ノ機械要素及動力傳逹機構ノ開發、之ヲ必要トス。
弐、硏究目的¶
依テ本硏究ニ於テハ、通常ノ車輪ヲ用ヰタル全方向移動車兩ヲ實現スルコトヲ目的トシ、驅動機能及操舵機能ヲ統合シタル四輪驅動・操舵ユニットヲ提案ス。
本硏究ニ於テ提案スル機構ハ、差動遊星齒車機構ヲ利用シ、一個ノ機構内ニ驅動及操舵ノ爲ノ動力傳逹經路ヲ構成スルモノナリ。之ニ依リ、複數ノアクチュエータヨリ入力セラルル回轉運動ヲ適切ニ分配シ、車輪ノ回轉運動及操舵運動ヲ獨立シテ實現スルコトヲ期ス。
差動遊星齒車機構ハ、複數ノ回轉要素閒ニ於ケル回轉速度及トルクノ關係ヲ利用シ、動力ヲ分配スルコトヲ得ル機構ニシテ、限ラレタル空閒内ニ複數ノ運動ヲ實現スル機械要素トシテ利用可能ナルモノナリ。
本硏究ニ於テハ、此ノ特性ニ着目シ、驅動及操舵ノ爲ノ動力傳逹機構ヲ統合スルコトニ依リ、從來ノ4WID-4WIS方式ニ於ケル機構ノ大型化及複雜化ヲ低減セシムルコトヲ圖ル。
本硏究ハ、先ヅ差動遊星齒車機構ヲ用ヰタル四輪驅動・操舵ユニットノ機構設計ヲ行ヒ、之ガ試作機ヲ製作ス。次ニ、製作シタル試作機ヲ用ヰテ驅動動作及操舵動作ヲ實施シ、各機構要素ノ運動狀態ヲ確認ス。
更ニ、入力回轉速度ト出力回轉速度トノ關係、操舵角ト入力運動トノ關係、竝ニ驅動及操舵時ニ於ケル動力傳逹特性ヲ實驗的ニ評價ス。
之等ノ結果ト機構學的ニ導出シタル理論値トヲ比較スルコトニ依リ、提案機構ニ於ケル運動傳逹ノ妥當性ヲ檢證スルモノナリ。
以上ニ依リ、本硏究ノ目的ハ、差動遊星齒車機構ヲ用ヰテ驅動機能及操舵機能ヲ統合シタル四輪驅動・操舵ユニットヲ設計及製作シ、其ノ機構的成立性竝ニ驅動・操舵動作ニ於ケル基本的運動及動力傳逹特性ヲ實驗的ニ明ラカナラシムルコトニ在リ。
參考文獻¶
[1]Kim, S., Lee, C., Chu, B., “Damping and transfer control of a spherical pendulum with omni-directional mobile robot having mecanum wheels,” Journal of the Korean Society for Precision Engineering, Vol.37, No.1, pp.35–42, 2020, DOI: 10.7736/JKSPE.019.082.
[2]Galati, R., Mantriota, G., Reina, G., “Adaptive heading correction for an industrial heavy-duty omnidirectional robot,” Scientific Reports, Vol.12, 19608, 2022.
[3]Nishida, K., and Igarashi, H., “Skid correction of Omnidirectional Mobile Robot by Disturbance Observer and Slip Control,” The Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP, 2017, Session ID: G-03, DOI: 10.1299/jsmeiip.2017.G-03.
[4]Lee, K. et al., “Kinematics, dynamics and control design of 4WIS4WID mobile robots,” The Journal of Engineering, 2015, DOI: 10.1049/JOE.2014.0241.
[5]Hang, P., Chen, X., “Towards Autonomous Driving: Review and Perspectives on Configuration and Control of Four-Wheel Independent Drive/Steering Electric Vehicles,” Actuators, Vol.10, No.8, 184, 2021.
[6]Ito, A., and Azuma, S., “Four-wheel Independent Steering Control System Based on Broadcast Control,” Transactions of the Institute of Systems, Control and Information Engineers, Vol. 39, No. 1, pp. 10–20, 2026, DOI: 10.5687/iscie.39.10.
附記¶
本稿ニ於ケル舊字體ノ表記ニ際シテハ、左記網站ヲ參照シ、之ガ變換ヲ爲セリ。 一、參照網站 https://toolbako.com/kyujitai-shinjitai/ 右、記ス。