Skip to main content
Presentation
Dynamics of Step-Climing with Deformable Wheels and Applications for Mobile Robotics
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems: San Diego, CA
  • Alexander Wilhelm, University of Waterloo
  • William Melek, University of Waterloo
  • Jan Huissoon, University of Waterloo
  • Christopher M. Clark, California Polytechnic State University - San Luis Obispo
  • Gerd Hirzinger, Institute of Robotics and Mechatronics
  • Norbert Sporer, Institute of Robotics and Mechatronics
  • Matthias Fuchs, Institute of Robotics and Mechatronics
Publication Date
10-29-2007
Abstract
Wheeled-mobile robots operating in human environments typically encounter small steps. Surmounting steps is normally not considered when determining peak torque needs, yet it can be the maximum requirement. This work looks at the statics and dynamics of this situation to determine the necessary peak torque. It finds that using a dynamic model that includes the wheel elasticity is essential for properly representing a real-world tire. When torque is increased using a step function, energy is stored in the tire-higher tire elasticity eases climbing. Knowledge of this phenomenon could facilitate the use of smaller actuators. The model is numerically integrated and results are found to agree with experiment.
Disciplines
Publisher statement
Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Citation Information
Alexander Wilhelm, William Melek, Jan Huissoon, Christopher M. Clark, et al.. "Dynamics of Step-Climing with Deformable Wheels and Applications for Mobile Robotics" Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems: San Diego, CA (2007) p. 783 - 788
Available at: http://works.bepress.com/cmclark/11/