Wheel transformer: A miniaturized terrain adaptive robot with passively transformed wheels

Yoo Seok Kim; Gwang Pil Jung; Haan Kim; Kyu Jin Cho; Chong Nam Chu

doi:10.1109/ICRA.2013.6631385

Wheel transformer: A miniaturized terrain adaptive robot with passively transformed wheels

Yoo Seok Kim, Gwang Pil Jung, Haan Kim, Kyu Jin Cho, Chong Nam Chu

Dept. of Mechanical & Automotive Engineering

Seoul National University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

50 Scopus citations

Abstract

A small mobile robot that uses round wheels has a stable ride ability on flat surfaces, but the robot cannot climb an obstacle whose height is greater than the length of its wheel radius. As an alternative, legged-wheel robots have been proposed for their better climbing performance. However, such legged-wheel robots have a poor driving performance on flat surfaces since their center of mass is vertically changed.

Original language	English
Title of host publication	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages	5625-5630
Number of pages	6
DOIs	https://doi.org/10.1109/ICRA.2013.6631385
State	Published - 2013
Event	2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany Duration: 6 May 2013 → 10 May 2013

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Country/Territory	Germany
City	Karlsruhe
Period	6/05/13 → 10/05/13

Access to Document

10.1109/ICRA.2013.6631385

Cite this

Kim, Y. S., Jung, G. P., Kim, H., Cho, K. J., & Chu, C. N. (2013). Wheel transformer: A miniaturized terrain adaptive robot with passively transformed wheels. In 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 (pp. 5625-5630). Article 6631385 (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2013.6631385

@inproceedings{d9f95777e2974fc5a021732e5a9471ad,

title = "Wheel transformer: A miniaturized terrain adaptive robot with passively transformed wheels",

abstract = "A small mobile robot that uses round wheels has a stable ride ability on flat surfaces, but the robot cannot climb an obstacle whose height is greater than the length of its wheel radius. As an alternative, legged-wheel robots have been proposed for their better climbing performance. However, such legged-wheel robots have a poor driving performance on flat surfaces since their center of mass is vertically changed.",

author = "Kim, \{Yoo Seok\} and Jung, \{Gwang Pil\} and Haan Kim and Cho, \{Kyu Jin\} and Chu, \{Chong Nam\}",

year = "2013",

doi = "10.1109/ICRA.2013.6631385",

language = "English",

isbn = "9781467356411",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "5625--5630",

booktitle = "2013 IEEE International Conference on Robotics and Automation, ICRA 2013",

note = "2013 IEEE International Conference on Robotics and Automation, ICRA 2013 ; Conference date: 06-05-2013 Through 10-05-2013",

}

Kim, YS, Jung, GP, Kim, H, Cho, KJ & Chu, CN 2013, Wheel transformer: A miniaturized terrain adaptive robot with passively transformed wheels. in 2013 IEEE International Conference on Robotics and Automation, ICRA 2013., 6631385, Proceedings - IEEE International Conference on Robotics and Automation, pp. 5625-5630, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 6/05/13. https://doi.org/10.1109/ICRA.2013.6631385

Wheel transformer: A miniaturized terrain adaptive robot with passively transformed wheels. / Kim, Yoo Seok; Jung, Gwang Pil; Kim, Haan et al.
2013 IEEE International Conference on Robotics and Automation, ICRA 2013. 2013. p. 5625-5630 6631385 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - A small mobile robot that uses round wheels has a stable ride ability on flat surfaces, but the robot cannot climb an obstacle whose height is greater than the length of its wheel radius. As an alternative, legged-wheel robots have been proposed for their better climbing performance. However, such legged-wheel robots have a poor driving performance on flat surfaces since their center of mass is vertically changed.

AB - A small mobile robot that uses round wheels has a stable ride ability on flat surfaces, but the robot cannot climb an obstacle whose height is greater than the length of its wheel radius. As an alternative, legged-wheel robots have been proposed for their better climbing performance. However, such legged-wheel robots have a poor driving performance on flat surfaces since their center of mass is vertically changed.

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ER -

Wheel transformer: A miniaturized terrain adaptive robot with passively transformed wheels

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