Various rovers with robust locomotion design have been developed and documented. However, the rover locomotion design with omni-directional mobility has not been addressed commonly. Shrimp suspension system and parallel bogies are employed as robot locomotion. It adapts to the terrain profile passively and it has better climbing capability than other rovers. In this paper, a locomotion study of a wheeled mobile robot combining omni-directional mobility and climbing ability is presented. The models of the kinematics and dynamics of the locomotion are presented and they are essential for torque estimation and motion control. The paper also presents the design principle, kinematics, and motion studies. Experimental testings to verify the developed model are discussed.

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