All-Terrain Omnidirectional Mobility (ATOM)
ATOM is an omnidirectional mobility platform designed to use spherical wheels for locomotion. Spherical wheels are ideal for omnidirectional ground mobility due to their isotropic surface geometry which allows them to instantaneously roll in any direction with ease. Spherical wheels also have the added benefit of being able to traverse over a wide range of ground terrains, including soft and loose surfaces which are problematic for other types of specialized wheels typically used for omnidirectional vehicles.
ATOM was a precursor to the magnetically coupled ball drive I worked on for my PhD dissertation.
I worked with the student teams listed below to develop and test a number of prototypes for ATOM.
Students: Sean Farrell, Scott Ginsberg, Sean Humphreys, & Zack Ryter
Students: William Capon, Anthony Kauffman, & William Robbins
Summer 2014 Team
Students: Sarah Michelle Labrador, Samy Amar, Romulo Quiliche
Students: Kevin Cariddi, Eric DelSanto, Kevin Fontana, Nathaniel Goldfarb, & Sean Rooney
More details about the development of the ATOM prototypes can be found in Chapter 2.4 of my PhD dissertation, and in the following papers:
- Gebre, B.A.; Ryter, Z.; Humphreys, S.R.; Ginsberg, S.M.; Farrell, S.P.; Kauffman, A.; Capon, W.; Robbins, W.; Pochiraju, K. (2014). A Multi-ball Drive for Omnidirectional Mobility, Technologies for Practical Robot Applications (TePRA), IEEE International Conference on , (pp.1-6)
- Gebre, B. A., & Pochiraju, K. (2017). Ball Drive Configurations and Kinematics for Holonomic Ground Mobility. In ASME 2017 International Mechanical Engineering Congress and Exposition (pp. V014T07A018-V014T07A018). American Society of Mechanical Engineers.