Wheeled robots

Woojin Chung, Karl Iagnemma

Research output: Chapter in Book/Report/Conference proceedingChapter

4 Citations (Scopus)

Abstract

The purpose of this chapter is to introduce, analyze, and compare various wheeled mobile robots (WMR s) 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 Handbook of Robotics
PublisherSpringer International Publishing
Pages575-593
Number of pages19
ISBN (Electronic)9783319325521
ISBN (Print)9783319325507
DOIs
Publication statusPublished - 2016 Jan 1

Keywords

  • Caster wheel
  • Mobile robot
  • Nonslip condition
  • Omnidirectional mobile robot
  • Rigid wheel

ASJC Scopus subject areas

  • Computer Science(all)
  • Engineering(all)

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  • Cite this

    Chung, W., & Iagnemma, K. (2016). Wheeled robots. In Springer Handbook of Robotics (pp. 575-593). Springer International Publishing. https://doi.org/10.1007/978-3-319-32552-1_24