Agile Omnidirectional Mobile Robot for Human Environments

Agile Omnidirectional Mobile Robot with Gravity Compensated Wheel-Leg Mechanisms for Human Environment - Changeable supporting polygon with a small footprint like humans. - Holonomic omnidirectional mobile robot with wheel-leg mechanisms - 4 mecanum wheels with gravity compensated 2-DOF legs % Submitted to IEEE IROS2021 and RA-L % Supported by NAVER LABS