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    Abstract
    An  omnidirectional mobile robot equipped with  four
    independent omnidirectional wheels  can perform 3  DOF
    motion and has one redundant DOE This redundancy can
    be  used to  drive  the mechanism enabling the  wheel
    arrangement to vary, which can function as  a continuously
    -variable transmission (CVT).  In  this  research, a  special
    mechanism  called  a variable  wheel  arrangement
    mechanism  is proposed to increase the range of velocity
    ratio  for  the  CVT  from  the wheel velocities to  robot
    velocity, which may  improve performance of  the mobile
    robot. The mobile  robot  with  this  mechanism was
    constructed and  various  tests have been conducted to
    demonstrate the validity and feasibility of the proposed
    mechanism.4981
    1. Introduction
    Omnidirectional mobile robots are capable of moving
    in an arbitrary direction without changing the direction of
    wheels, because they  can  achieve  3  DOF motion  on  a
    two-dimensional plane. Various types of omnidirectional
    mobile  robots have been  proposed  so  far;  universal
    wheels [l, 21,  ball wheels  [3],  off-centered wheels [4]  are
    popular among them.
    The omnidirectional  mobile robots  using
    omnidirectional wheels composed  of  passive  rollers  or
    balls  usually have  3  or  4  wheels.  The  three-wheeled
    omnidirectional mobile robots are capable of achieving 3
    DOF motions by  driving  3  independent actuators  [5,  61,
    but  they may have stability problem due to the triangular
    contact area with the ground, especially when traveling on
    a  ramp  with the high  center  of  gravity owing  to  the
    payload they  carry.  It is  desirable, therefore, that  four-
    wheeled vehicles  be used  when stability  is  of  great
    concern  [7].  However,  independent drive of  four wheels
    creates one extra DOF.  To  cope with such a redundancy
    problem, the mechanism capable of driving  four
    omnidirectional  wheels  using three actuators was
    suggested [8].
    Another approach  to  a redundant  DOF  is  to  devise
    some mechanism which uses  this  redundancy to  change
    wheel  arrangements  [9,  101.  Since  the  relationship
    between the robot velocity  and wheel velocities depends
    on wheel  arrangement, varying  wheel  arrangement can
    function  as  a transmission. Furthermore, it  can be
    considered as a continuously-variable transmission (CVT), because the  robot  velocity can  change continuously  by
    adjustment of wheel arrangements without employing a
    gear train.  The CVT  can  provide more  efficient motor
    driving capability as  its range of velocity ratio get wider.
    The mobile robot proposed by Wada  [9],  however, has a
    limited  range to ensure stability of the vehicle.
    In  this  paper,  a  new  mechanism so-called  variable
    wheel arrangement mechanism  (VWAM)  is proposed in
    which robot  stability is  guaranteed regardless of wheel
    arrangement and thus the range of velocity  ratio is greatly
    extended. The four-wheeled omnidirectional  mobile robot
    involving this mechanism combined with the continuous
    altemate wheels developed  in our laboratory [  111  has been
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