Kyungwook Lee

A Compact and Agile Angled-Spoke Wheel-Based Mobile Robot for Uneven and Granular Terrains

This study proposes an angled spoke-based wheel(ASW) design to enhance the driving speed of a mobile robot with angled spoke-based wheels called DODO on granular media, asphalt ground, and transitions between them. The design parameters were optimized using the Taguchi method and <inline-formula xml