Intuitive Control of 3 Omni-wheel based Mobile Plat- form using Leap Motion Devasena Pasupuleti [0000-0003-3980-0219] , Dimple Dannana [0000-0003-1231-9230] , Raghuveer Maddi [0000-0002-8548-4619] , Uday Manne [0000-0003-0027-4434] and Rajeevlochana G. Chittawadigi [0000-0002-0918-6716] Department of Mechanical Engineering, Amrita School of Engineering, Bengaluru Amrita Vishwa Vidyapeetham, India rg_chittawadigi@blr.amrita.edu Abstract. Autonomous and remotely controlled mobile robots are used exten- sively in industries and are slowly becoming a norm in day-to-day life. They can be manually controlled using devices such as joysticks or by using mobile phone applications, through Bluetooth or similar technologies. In this paper, the authors propose usage of Leap Motion device which can track hands of human users. By using the gestures, the human can operate a mobile robot. For the demonstration, the authors propose its usage on a 3 Omni-wheel based mobile platform. First, the mathematical model of the robot was formulated and simulated in V-REP software for various types of motion. Then, a physical prototype was developed, which was integrated with both Bluetooth based mobile phone application and Leap Motion device. Field trials and survey of 30 people was carried out, where both methods were perceived to be of similar ease of use and intuitiveness. How- ever, the authors feel the results of Leap Motion control may improve with sub- sequent usage by the users. Keywords: omni-wheel robot, 3-dof mobile platform, Leap Motion device 1 Introduction A robot with a moving base is called a mobile robot. Autonomous Mobile Robots (AMRs) are mobile robots that are able to perform tasks in an environment without continuous human guidance. Some primary abilities every AMR must be possessing are ability to move, autonomous-drive, and intelligence. Mobile robots are equipped with advanced intelligence and sensory systems. These systems enable them to have wide range of applications and are used in various fields such as industries, surgeries, surveillance, mines and nuclear environments. The terrestrial mobile robots, a subset of mobile robots, move on ground and are mainly classified as wheeled and legged mobile robots [1]. The legged robots are designed to move on uneven terrain but are slow when compared to wheeled robots and require complex mechanics analysis and construction. Whereas the wheeled robots can move with greater speeds on even sur- faces but cannot be used at uneven terrains and its construction and mechanics analysis are easier.