6AP wheel: A new transformable robotic wheel for traction force improvement and halting avoidance of a UGV on soft terrains

Mardani, Arman; Ebrahimi, Saeed; Alipour, Khalil

doi:10.1080/15397734.2020.1807360

Cited by 7 publications

(2 citation statements)

References 22 publications

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“…One method involves multiple leg segments evenly arranged around a disc connected to an axial shaft. By pulling or pushing this disc, the leg segments can open or close [24], [25], [26], [27]. A similar mechanism was also applied to origami wheels [28], [29].…”

Section: B Existing Hybrid Locomotion Systemsmentioning

confidence: 99%

$\mathbf{\alpha }$-WaLTR: Adaptive Wheel-and-Leg Transformable Robot for Versatile Multiterrain Locomotion

et al. 2023

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Adaptability is a fundamental yet challenging requirement for mobile robot locomotion. This article presents α-WaLTR, a new adaptive wheel-and-leg transformable robot for versatile multiterrain mobility. The robot has four passively transformable wheels, where each wheel consists of a central gear and multiple leg segments with embedded spring suspension for vibration reduction. These wheels enable the robot to traverse various terrains, obstacles, and stairs while retaining the simplicity in primary control and operation principles of conventional wheeled robots. The chassis dimensions and the center of gravity location were determined by a multiobjective design optimization process aimed at minimizing the weight and maximizing the robot's pitch angle for obstacle climbing. Unity-based simulations guided the selection of the design variables associated with the transformable wheels. Following the design process, α-WaLTR with an embedded sensing and control system was developed. Experiments showed that the spring suspension on the wheels effectively reduced the vibrations when operated in the legged mode and verified that the robot's versatile locomotion capabilities were highly consistent with the simulations. The system-level integration with an embedded control system was demonstrated via autonomous stair detection, navigation, and climbing capabilities.

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Section: B Existing Hybrid Locomotion Systemsmentioning

confidence: 99%

$\mathbf{\alpha }$-WaLTR: Adaptive Wheel-and-Leg Transformable Robot for Versatile Multiterrain Locomotion

et al. 2023

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“…The physical phenomena involved in the wheel-terrain interaction have been investigated through numerical and experimental approaches [4][5][6][7][8][9][10][11][12][13][14][15][16]. Some studies have investigated the design and development for a novel type of the exploration rover that considers the obstacle-climbing capability and/or locomotion performance [17][18][19][20][21][22][23]. Several studies have also analyzed the effects of the wheel shape [24][25][26][27][28][29].…”

Section: Introductionmentioning

confidence: 99%

Multidisciplinary Design Optimization for a Solar-Powered Exploration Rover Considering the Restricted Power Requirement

Kim

2020

Energies

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The energy requirements of a solar-powered exploration rover constrain the mission duration, traversability, and tractive capability under the given limited usable power. Thus, exploration rover design, more specifically, rover wheel design (related to considerable energy consumption in driving), plays a significant role in the success of exploration missions. This paper describes the modeling of an operational environment and a multi-body dynamics (MBD) simulation tool based on wheel-terrain interaction model to predict the dynamic behavior on a digital elevation model (DEM) map. With these simulation environments, a multidisciplinary optimal wheel design methodology, integrating the MBD simulation tool and non-dominated sorting genetic algorithm-II (NSGA-II), is developed. Design parameters are chosen through sensitivity analysis. These multi-objective optimizations in dynamic states are conducted to obtain the optimal wheel dimension that meet the limited power condition with maximal tractive capability under the given operational environment. Furthermore, numerical and experimental verification using a single wheel testbed on lunar simulant are conducted to convincingly validate the derived optimization results. Finally, these results reveal that the proposed design methodology is an effective approach to deciding the best design parameter among a large variety of candidate design points considering the restricted power requirement.

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Design and development of jamming-based stiffness-adjustable wheel on soft terrain

Suthisomboon,

Bonardi,

Ishigami

2025

Journal of Terramechanics

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6AP wheel: A new transformable robotic wheel for traction force improvement and halting avoidance of a UGV on soft terrains

Cited by 7 publications

References 22 publications

$\mathbf{\alpha }$-WaLTR: Adaptive Wheel-and-Leg Transformable Robot for Versatile Multiterrain Locomotion

$\mathbf{\alpha }$-WaLTR: Adaptive Wheel-and-Leg Transformable Robot for Versatile Multiterrain Locomotion

Multidisciplinary Design Optimization for a Solar-Powered Exploration Rover Considering the Restricted Power Requirement

Design and development of jamming-based stiffness-adjustable wheel on soft terrain

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