Four-Wheel Mobile Robot Platform

A common four-wheel omnidirectional mobile robot platform with a 2-DoF gimbal, developed continuously from 2021 to 2025. Chassis and gimbal were both iterated into different robots for different mobile tasks.

At a Glance

The four-wheel robot with its cameras, control board, gimbal and omni wheels labeled

Gimbal Stabilization

Horizontal stabilization. The chassis is spun by hand; the gimbal keeps its heading.
Vertical stabilization. The chassis is tilted by hand; the gimbal keeps its pitch.

Chassis Driving

Mecanum drive. Weaving between obstacles and shooting in the arena on mecanum wheels.
Omni drive. Driving and spinning on omni wheels.

TODO: this page is still being written.

References and Acknowledgements

Thanks to the teams who open-sourced their work:

  • TODO

Thanks also to the members of RoboGrinder at Virginia Tech for their work on this robot.