Oladunjoye, Opeyemi (Villanova University), Kozinov, Andrey (Villanova University), Clayton, Garrett (Villanova University)

Modeling and Control Implementation of an Omnidirectional Screw-Driven Robot

Scheduled for presentation during the Regular Session "Special Topics in Robotic Systems" (WeCT5), Wednesday, July 16, 2025, 16:30−16:50, Room 109

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

This paper presents the modeling and feedback control of a screw-propelled mobile robot designed for all-terrain use. The screw-driven robot kinematic model and equations of motion are developed and used to design a sliding mode controller. Indoor experiments show that the developed models accurately represent the dynamics of the screw-bot and enable the design of control algorithms.