  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.
