TY - JOUR
T1 - Wheel Transformer
T2 - A wheel-leg hybrid robot with passive transformable wheels
AU - Kim, Yoo Seok
AU - Jung, Gwang Pil
AU - Kim, Haan
AU - Cho, Kyu Jin
AU - Chu, Chong Nam
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/12/1
Y1 - 2014/12/1
N2 - We report on the design, optimization, and performance evaluation of a new wheel-leg hybrid robot. This robot utilizes a novel transformable wheel that combines the advantages of both circular and legged wheels. To minimize the complexity of the design, the transformation process of the wheel is passive, which eliminates the need for additional actuators. A new triggering mechanism is also employed to increase the transformation success rate. To maximize the climbing ability in legged-wheel mode, the design parameters for the transformable wheel and robot are tuned based on behavioral analyses. The performance of our new development is evaluated in terms of stability, energy efficiency, and the maximum height of an obstacle that the robot can climb over. With the new transformable wheel, the robot can climb over an obstacle 3.25 times as tall as its wheel radius, without compromising its driving ability at a speed of 2.4 body lengths/s with a specific resistance of 0.7 on a flat surface.
AB - We report on the design, optimization, and performance evaluation of a new wheel-leg hybrid robot. This robot utilizes a novel transformable wheel that combines the advantages of both circular and legged wheels. To minimize the complexity of the design, the transformation process of the wheel is passive, which eliminates the need for additional actuators. A new triggering mechanism is also employed to increase the transformation success rate. To maximize the climbing ability in legged-wheel mode, the design parameters for the transformable wheel and robot are tuned based on behavioral analyses. The performance of our new development is evaluated in terms of stability, energy efficiency, and the maximum height of an obstacle that the robot can climb over. With the new transformable wheel, the robot can climb over an obstacle 3.25 times as tall as its wheel radius, without compromising its driving ability at a speed of 2.4 body lengths/s with a specific resistance of 0.7 on a flat surface.
KW - Index terms-legged robots
KW - Mechanism design
KW - Search and rescue (SAR) robots
KW - Transformable wheel
KW - Wheeled robots
UR - http://www.scopus.com/inward/record.url?scp=84916598270&partnerID=8YFLogxK
U2 - 10.1109/TRO.2014.2365651
DO - 10.1109/TRO.2014.2365651
M3 - Article
AN - SCOPUS:84916598270
SN - 1552-3098
VL - 30
SP - 1487
EP - 1498
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 6
M1 - 2365651
ER -
