IROS 2015poster26 citations
The Tri-Wheel: A novel wheel-leg mobility concept
Lauren M. Smith, Roger D. Quinn, Kyle A. Johnson, William R. Tuck
Abstract
The Tri-Wheel is a novel wheel-leg locomotion concept inspired by work with first responders. Through its two modes of operation—Driving Mode and Tumbling Mode— this mechanism is able to both drive quickly on smooth surfaces at roughly 1.7 times desired speed and climb objects as tall as 67% of the diameter of the mechanism. The unique gearing configuration that facilitates these dual capabilities is described, and testing quantifies that this nonprecision gearing system is roughly 81% efficient in a worst-case scenario of loading. This work introduces the Tri-Wheel concept and provides preliminary testing to validate its predicted operating characteristics.
BibTeX
@inproceedings{iros2015_thetriwheelanove,
title = {The Tri-Wheel: A novel wheel-leg mobility concept},
author = {Lauren M. Smith and Roger D. Quinn and Kyle A. Johnson and William R. Tuck},
booktitle = {IROS 2015},
year = {2015}
}