Wheeled Robots

Woojin Chung, Karl Iagnemma

    Research output: Chapter in Book/Report/Conference proceedingChapter

    10 Citations (Scopus)

    Abstract

    The purpose of this chapter is to introduce, analyze, and compare various wheeled mobile robots (WMRwheeled mobile robots) and to present several realizations and commonly encountered designs. The mobility of WMR is discussed on the basis of the kinematic constraints resulting from the pure rolling conditions at the contact points between the wheels and the ground. Practical robot structures are classified according to the number of wheels, and features are introduced focusing on commonly adopted designs. Omnimobile robot and articulated robots realizations are described. Wheel–terrain interaction models are presented in order to compute forces at the contact interface. Four possible wheel-terrain interaction cases are shown on the basis of relative stiffness of the wheel and terrain. A suspension system is required to move on uneven surfaces. Structures, dynamics, and important features of commonly used suspensions are explained.

    Original languageEnglish
    Title of host publicationSpringer Handbooks
    PublisherSpringer Science and Business Media Deutschland GmbH
    Pages575-594
    Number of pages20
    DOIs
    Publication statusPublished - 2016

    Publication series

    NameSpringer Handbooks
    ISSN (Print)2522-8692
    ISSN (Electronic)2522-8706

    Bibliographical note

    Publisher Copyright:
    © 2016, Springer-Verlag Berlin Heidelberg.

    Keywords

    • Caster Wheel
    • Mobile Robot
    • Nonslip Condition
    • Omnidirectional Mobile Robot
    • Rigid Wheel

    ASJC Scopus subject areas

    • General

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