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COSMOS: Design of a Differential Holonomic Robotic Drive System

##article.authors##

  • Robert Teal University of Texas at Dallas
  • Keval Shah University of Texas at Dallas
  • Cole (Jesse) Huffine University of Texas at Dallas
  • Ajay Sajan University of Texas at Dallas
  • Hector Avila University of Texas at Dallas
  • Kyle Reis University of Texas at Dallas
  • Swetha Prakash University of Texas at Dallas
  • Indhresh Achi University of Texas at Dallas
  • Sarah Wei University of Texas at Dallas
  • Jude Onyenze University of Texas at Dallas https://orcid.org/0009-0000-1418-1058

DOI:

https://doi.org/10.31224/5757

Keywords:

Robotics, Mobile Robots, Robot Locomotion, Holonomic Drive

Abstract

In mobile robotics, the most common methods of movement are tank and mecanum drive systems. Tank drives allow for powerful forward and backward motion with high force efficiency, while mecanum drives enable smooth holonomic (omnidirectional) motion but lack strong pushing power. At COMET VEXU, we are proud to present COSMOS, a novel differential holonomic drivetrain that combines the strength and efficiency of a tank drive with the versatility of holonomic movement. The goal of this research is to design and structurally analyze a drivetrain system that optimizes motor power usage through efficient wheel arrangements while maintaining high maneuverability and control. By merging the best aspects of both drive systems, this project aims to enhance overall robot performance and demonstrate a new approach to mobile robot locomotion.

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Author Biography

Jude Onyenze, University of Texas at Dallas

I'm a passionate robotics researcher with a deep focus on humanoid and extraterrestrial robotics. I am currently working with Dr. Tadesse at The University of Texas at Dallas in Humanoid and Biorobotics Lab And Dr. Yu Xiang in the Intelligent Vision and Robotics Lab. My journey in robotics is not just a career path but a calling—one that I have been drawn to since childhood. Over the years, my fascination with robots has evolved into a firm commitment to harness the power of advanced robotics to solve real-world problems and improve lives. Check out my Github and Youtube Channel to learn more about my projects

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Posted

2025-11-04

License

Copyright (c) 2025 Robert Teal, Keval Shah, Cole (Jesse) Huffine, Ajay Sajan, Hector Avila, Kyle Reis, Swetha Prakash, Indhresh Achi, Sarah Wei, Jude Onyenze

Creative Commons License

This work is licensed under a Creative Commons Attribution 4.0 International License.