In this paper, the actuated spoke wheel is presented as a novel concept for robot locomotion. A robot using two actuated spoke wheels is analyzed on flat terrain using a one-, two-, and three-point contact per wheel scheme. These modes are analyzed to show the motions available to a robot using the actuated spoke wheel when constrained to non-slipping contacts with the ground. It is shown that the one-point contact mode has two degrees of freedom and that the motion output can be arbitrarily selected. This mode would allow for moving while maintaining a constant height for the center of mass, which is analyzed here. Turning for this mode is shown to occur discretely by changing the heading angle for every step by taking steps of different lengths with the right and left wheels. The two-point contact mode is shown to have one degree of freedom, and that by choosing a step length, the path of the center of the axle in the sagittal plane is determined as a function of the wheel angle, theta. This mode of locomotion allows for statically stable walking with only two wheels, and could be used for carrying heavy payloads. The three-point contact scheme is shown to have zero degrees of freedom, but would allow for additional stability during stationary tasks by letting the robot assume a wide stance. Future work will focus on investigating different motion schemes utilizing individual spoke actuation to improved mobility. Further kinematic work needs to be performed to understand the motion of the robot as it transitions from one motion scheme to another, to study the motion over uneven terrain, and to determine the functionality of the actuated spoke wheeled robot in other configurations, such as allowing the left and right wheels to rotate independently, or a configuration with four wheels. Work will continue into developing algorithms and strategies for intelligent motion planning and coordination of the active spokes for climbing over obstacles. Other work will include dynamic analysis and a study of energetics of the various actuated spoke wheel configurations.


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    Title :

    Kinematic analysis of a novel rimless wheel with independently actuated spokes


    Additional title:

    Kinematische Analyse eines neuartigen felgenlosen Rades mit unabhängig betätigten Speichen


    Contributors:
    Laney, Doug (author) / Hong, Dennis (author)


    Publication date :

    2005


    Size :

    6 Seiten, 7 Bilder, 10 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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