This paper discusses the mechanical design and simulation of a novel omnidirectional wheel based on Reuleaux-triangles. The main feature of our omniwheel is that the point of contact of the wheel with the floor is always at the same distance from the center of rotation. This produces smooth translational movement on a flat surface, even when the profile of the complete wheel assembly has gaps b...

This paper discusses the mechanical design and simulation of a novel omnidirectional wheel based on Reuleaux-triangles. The main feature of our omniwheel is that the point of contact of the wheel with the floor is always kept at the same distance from the center of rotation by mechanical means. This produces smooth translational movement on a flat surface, even when the profile of the complete ...

Mobile robots are increasingly being developed for highrisk missions in rough terrain situations, such as planetary exploration. Here a rough-terrain control (RTC) methodology is presented that exploits the actuator redundancy found in multi-wheeled mobile robot systems to improve ground traction and reduce power consumption. The methodology “chooses” an optimization criterion based on the loca...

Many tiny robots have developed which walk in smooth surface but the problem face in complex terrain. Some wheel based robot move in flat surface only. In this paper, we studied some bio-inspired jumping robots like Grillo, MiniWhegs, MSU jumper, EPFL. Because Jumping is used by small animals in nature, rough terrain and cluttered environment. These robots use energy store and release mechanism...

This paper introduces an analytical assessment framework for evaluating grinding wheel performance derived from the model of cutting and sliding force components. Four new parameters are proposed based on topography. These normalized through aggressiveness number, which circumvents influences geometry kinematics. The is validated experiments with different topographies obtained by changing dres...

This paper proposes a novel wheel−leg hybrid robot that can be applied on both flat and rugged terrains, it utilizes two passive transformable symmetrical wheels combine the stability of circular wheel obstacle climbing ability legged wheel. To minimize number actuators, transformation process is designed to triggered passively when in contact with obstacles. A new triggering mechanism employed...