Dynamics of step-climbing with deformable wheels and applications for mobile Robotics

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...

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Hauptverfasser:	Wilhelm, Alexander, Melek, William, Huissoon, Jan, Clark, Chris, Hirzinger, Gerd, Sporer, Norbert, Fuchs, Matthias
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Aerodynamics Elasticity Intelligent robots Mechatronics Mobile robots Tires Torque Vehicle dynamics Vehicles Wheels
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creator	Wilhelm, Alexander Melek, William Huissoon, Jan Clark, Chris Hirzinger, Gerd Sporer, Norbert Fuchs, Matthias
description	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.
doi_str_mv	10.1109/IROS.2007.4399601
format	Conference Proceeding
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identifier	ISSN: 2153-0858
ispartof	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, p.783-788
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language	eng
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source	IEEE Electronic Library (IEL) Conference Proceedings
subjects	Aerodynamics Elasticity Intelligent robots Mechatronics Mobile robots Tires Torque Vehicle dynamics Vehicles Wheels
title	Dynamics of step-climbing with deformable wheels and applications for mobile Robotics
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