In field environments, numerous robots necessitate manual intervention for restoration of functionality post a turnover, resulting in diminished operational efficiency. This study presents an innovative design solution for a reversible omnidirectional mobile robot denoted as CuRobot, featuring a cube structure, thereby facilitating uninterrupted omnidirectional movement even in the event of flipping. The incorporation of eight conical wheels at the cube vertices ensures consistent omnidirectional motion no matter which face of the cube contacts the ground. Additionally, a kinematic model is formulated for CuRobot, accompanied by the development of a trajectory tracking controller utilizing model predictive control. Through simulation experiments, the correlation between trajectory tracking accuracy and the robot's motion direction is examined. Furthermore, the robot's proficiency in omnidirectional mobility and sustained movement post-flipping is substantiated via both simulation and prototype experiments. This design reduces the inefficiencies associated with manual intervention, thereby increasing the operational robustness of robots in field environments.

翻译：在野外环境中，许多机器人在发生翻转后需要人工干预才能恢复功能，导致作业效率降低。本研究提出了一种名为CuRobot的可逆全向移动机器人创新设计方案，其采用立方体结构，即使在翻转情况下也能实现不间断的全向移动。通过在立方体顶点处安装八个锥形轮，确保无论立方体哪个面接触地面，都能保持全向运动。此外，为CuRobot建立了运动学模型，并基于模型预测控制开发了轨迹跟踪控制器。通过仿真实验，研究了轨迹跟踪精度与机器人运动方向之间的相关性。进一步通过仿真与样机实验验证了机器人在翻转后具备全向移动及持续运动的能力。该设计减少了人工干预带来的低效问题，从而提升了机器人在野外环境中的作业鲁棒性。