Jevaroo’s base dual plates are weighted with three heavy batteries, two large stepper motors for the neck’s linear actuators and its own two steel plates to provide the robot with a low center of mass, countering balancing forces for when Jevaroo is pushing or pulling at items (for example, to counter the forces needed when Jevaroo is opening or closing a door). This enables Jevaroo to hold its own when interacting with the world.

The coolest thing about Jevaroo’s base though, is its omni wheels, enabling holonomic driving. This means that Jevaroo is able to move in many directions in the most efficient way possible.

Move forwards and backwards
Jevaroo can move forwards and backwards, like regular traction wheels can.

Move forwards and backwards at any angle
Jevaroo may also move forwards or backwards perfectly diagonally at any angle without changing the direction it faces.

Move side-to-side
Jevaroo’s wheels can start moving in any direction without changing the direction that Jevaroo is facing. Which means Jevaroo can move left and right sideways like a crab.

Rotation on the spot - no turning circle
Unlike standard traction wheel driving, with the omni wheels, Jevaroo is able to achieve a much tighter turning circle - namely none at all.  Yes, Jevaroo can turn to any angle with no turning circle!  Jevaroo may turn on the spot, and even turn left or right at a sharp 90 degrees in its current position to face another direction.

Change movement direction from forward-backwards to side-side on the spot, without changing the direction Jevaroo is facing
Jevaroo is so cool - it can rotate on the spot to face a new direction and then travel forward that way.  In any direction.

This versatility of movement at the base of Jevaroo makes it very helpful when used in conjunction with Jevaroo’s neck and limb degrees of freedom. Used in partnership with them, Jevaroo can use the base’s holonomic drive to open sliding doors (the robot hand grabs onto a door handle and Jevaroo’s base moves sideways to open.). Or open hinged doors (the robot hand grabs the handle and the entirety of Jevaroo moves forwards to open the door). Or Jevaroo can throw items into the bin by picking the item up with her hand and then rolling over to the bin.

The three base driving motors each have an encoder to accurately position each motors in its precise, correct location. By allowing for tight, accurate movements at the base, means Jevaroo can rely on her base to accurately help her complete tasks in the real world.