Design, Modeling, and Control of a Differential Drive Rimless Wheel That Can Move Straight and Turn

A rimless wheel or a without rim, is the simplest example of legged robot and an ideal testbed to understand mechanics locomotion. This paper presents design, modeling, control differential drive that achieves straight-line movement turning. The design comprises central axis with two 10-spoked springy wheels on either side body houses electronics, motors, transmission, computers, batteries. To move straight, both motors are commanded constant pitch body. turn while maintaining pitch, current added subtracted from currents motor. In separate tests, achieved maximum speed 4.3 m per sec (9.66 miles hour), lowest total cost transport (power unit weight velocity) 0.13, smallest turning radius 0.5 m. kinematics-based model for steering dynamics-based sagittal (fore-aft) plane forward presented. Finally, parameters studies influence speed, torque, power, energetics locomotion performed. can straight potentially be used navigate in constrained spaces such as homes offices.