A Robotic Wheel Locally Transforming the Diameter for the Locomotion on Rough Terrain

Naoki Moriya, Hiroki Shigemune, Hideyuki Sawada

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A locomotion ability of robots has been studied to move on a various terrain stably. We are developing a robotic wheel which locally transforms its diameter to improve the mobility on an uneven terrain. The robotic wheel locomotes on a flat road using the high mobility of a wheel, and also on rough terrains by changing its diameters. We introduce a variable diameter wheel as a prototype of the robotic wheel, and investigate its availability. Without installing an axle motor, the robot is able to locomote by utilizing the extension and returning of the diameters by moving its centre of gravity. The extension of the spokes works to push the robotic body in order to locomote, and the returning of the spokes make the wheel get the rotation momentum. The extension and returning mechanism is driven by rack pinion mechanism. We verified its mobility through four experiments, which are the testing locomotion on flat ground, the climbing over the step, controlling the robotic wheel by IMU, and the braking by the extension of spokes. The trajectory which the tip of the spoke draws is also compared with the simulation using MATLAB.

Original languageEnglish
Title of host publication2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1257-1262
Number of pages6
ISBN (Electronic)9781728164151
DOIs
Publication statusPublished - 2020 Oct 13
Event17th IEEE International Conference on Mechatronics and Automation, ICMA 2020 - Beijing, China
Duration: 2020 Oct 132020 Oct 16

Publication series

Name2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020

Conference

Conference17th IEEE International Conference on Mechatronics and Automation, ICMA 2020
CountryChina
CityBeijing
Period20/10/1320/10/16

Keywords

  • Climbing over obstacles
  • Robotic wheel
  • Variable diameter

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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