Base and Wheels

The base platform of AMIGO is basically a scaled-up version of the TURTLE design. By using four instead of three wheels, the robot is much more stable and also leaves much more space available to mount equipment on the base platform. AMIGOs wheels are custom-made omniwheels (wheels with small wheels within the wheel). Therefore the robot can move in every direction without having to turn first. Four Maxon 150 W electrical motors drive the omniwheels.