{α }-WaLTR: Adaptive Wheel-and-Leg Transformable Robot for Versatile Multiterrain Locomotion

Chuanqi Zheng; Siddharth Sane; Kangneoung LeeVishnu KalyanramKiju Lee

首页> 外文期刊>IEEE Transactions on Robotics: A publication of the IEEE Robotics and Automation Society >{α }-WaLTR: Adaptive Wheel-and-Leg Transformable Robot for Versatile Multiterrain Locomotion

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{α }-WaLTR: Adaptive Wheel-and-Leg Transformable Robot for Versatile Multiterrain Locomotion

机译：{α }-WaLTR: Adaptive Wheel-and-Leg Transformable Robot for Versatile Multiterrain Locomotion

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摘要

Adaptability is a fundamental yet challenging requirement for mobile robot locomotion. This article presents $alpha$-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, $alpha$-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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《IEEE Transactions on Robotics: A publication of the IEEE Robotics and Automation Society》 |2023年第2期|941-958|共18页
作者
Chuanqi Zheng; Siddharth Sane; Kangneoung LeeVishnu KalyanramKiju Lee;
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作者单位

Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA;

Department of Engineering Technology and Industrial Distribution and the Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA;

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原文格式 PDF
正文语种英语
中图分类机器人技术;
关键词
Legged locomotion; Wheels; Robots; Gears; Robot sensing systems; Kinematics; Vibrations;

{α }-WaLTR: Adaptive Wheel-and-Leg Transformable Robot for Versatile Multiterrain Locomotion

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