[ros-users] omniwheel design in urdf

kadir kadirfu at gmail.com
Mon Feb 14 22:52:53 UTC 2011

Hi everyone,

Do you know any ros-package including an omni-wheel urdf? Or does anyone
happen to design an omniwheel in urdf? I just don't want to re-invent the
wheel :)

By the way, what I mean by omni-wheel is the one having a main wheel and
several roller wheels -mostly perpendicularly aligned-. Like the ones on the
robotino platform. I don't prefer using two motors for each wheel that can
imitate an omniwheel (=omni-drive) or changing the friction properties of
the surfaces in gazebo. These are some of the tricks that I'm aware of.


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