Heterogeneous Drive Systems for Macro/micro Exploration of De-constructed Environments
نویسندگان
چکیده
Heterogeneous systems provide variety in order to address unforeseen problems in unknown environments. This paper describes a series of custom-built robotic devices that employ heterogeneity as a means of achieving greater capability. From novel, crawling limbed/tracked hybrid robots to water hammer assisted actuation to macro/micro marsupial robot teams, commonalities are investigated to move toward a unifying theoretical framework for control of actuation. The Heterogeneous Differential Drive is then described as a bridge between differential drive robots and skid-steered robots.
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