Steady locomotion in torso-actuated rimless wheel robots
نویسندگان
چکیده
Rimless wheel robots are ground whose wheels have no rims or tires but only spokes. This paper considers torso-actuated robots. Each robot considered in this is composed of a single and torso connected to the centre by an actuated revolute joint. There been proposed several controllers for rimless robots; however, their locomotion properties poorly understood. For example, similarities differences between rimmed unknown. first investigates steady theoretically. Then, evaluated various parameters numerical simulations. Finally, discussed. In particular, it shown that speed-maximizing posture substantially shared among On other hand, some not them. The most significant difference relationship maximum speed radius. It concave parameter space robot, linear whole robot.
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ژورنال
عنوان ژورنال: SICE Journal of Control, Measurement, and System Integration
سال: 2022
ISSN: ['1882-4889', '1884-9970']
DOI: https://doi.org/10.1080/18824889.2022.2097402