Capability:Omni Drive
| Omni Drive | |
|---|---|
| Type | Actuation |
| Measures/Controls | Translation and rotation in any direction simultaneously |
| Common Hardware | Mecanum wheels (4-wheel), omni wheels (3-wheel holonomic) |
| Enables Activities | Holonomic navigation, precise positioning in tight spaces |
| Status | Stub - Not yet implemented in BRS robots |
Omni Drive is a actuation capability that enables omnidirectional movement using special wheels.
Overview
This is a stub page. This capability is not yet implemented in any BRS robot. This page exists to:
- Document the concept for future implementation
- Invite community members to add it to their robots
- Provide a starting point for hardware selection
What It Controls
Translation and rotation in any direction simultaneously
Common Hardware
Mecanum wheels (4-wheel), omni wheels (3-wheel holonomic)
Enables Activities
Adding this capability to your robot would enable:
Technical Considerations
- **Advantages**: Move in any direction without rotating chassis, strafe capability
- **Disadvantages**: Expensive wheels, complex kinematics, less efficient than differential drive
- **Typical cost**: $50-150 for wheel set
- **Wheel types**: Mecanum (diagonal rollers), omni (perpendicular rollers)
- **Motor count**: 3-4 motors required
- **Surface**: Works best on smooth, hard surfaces
Contributing
Want to add this capability to your robot? Here's how:
- Select appropriate hardware (see "Common Hardware" above)
- Mount the hardware to your robot chassis
- Wire to your microcontroller
- Write driver code or use existing libraries
- Test and calibrate
- Document your implementation
- Update this page with your findings
- Share on Discord
See Also
- Capabilities - All capabilities
- Activities - What this capability enables
- Robotics Ontology - How capabilities fit into BRS knowledge structure