Omni Bot

We built a four-wheeled omnidirectional robot during our training phase, focusing on understanding holonomic motion and motor control.

Key Features & Implementation:

• Drive System: Four omni wheels arranged in a standard X-configuration, enabling holonomic movement — forward, backward, sideways, and diagonal without changing orientation.

• Control Hardware:

  • Arduino as the central microcontroller for motor actuation.

  • Cytron motor drivers to manage current and PWM control for the four DC motors.

• Power System: Powered by a 3S LiPo battery, providing sufficient voltage and current for sustained motion.

• User Interface: Controlled via a PS3 controller, mapped to velocity vectors for intuitive teleoperation.

• Software & Algorithms:

  • Implemented kinematic transformations to convert joystick inputs into individual wheel velocities.

  • Ensured smooth acceleration/deceleration and minimal slippage during omni-directional motion.

Lessons Learned:

• Developed hands-on understanding of holonomic kinematics and omnidirectional drive systems.

• Learned the practical challenges of wheel slippage, motor calibration, and current handling in multi-motor systems.

• Gained experience in microcontroller-based motor control and real-time joystick interfacing.