Design, Modeling, and Control of a Differential Drive Rimless Wheel That Can Move Straight and Turn

A rimless wheel or a wheel without a rim, is the simplest example of a legged robot and is an ideal testbed to understand the mechanics of locomotion. This paper presents the design, modeling, and control of a differential drive rimless wheel robot that achieves straight-line movement and turning. T...

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Detalhes bibliográficos

Principais autores:	Sebastian Sanchez, Pranav A. Bhounsule
Formato:	Artigo
Idioma:	Inglês
Publicado em:	MDPI AG 2021-07-01
Colecção:	Automation
Assuntos:	mobile robots legged locomotion robot control rimless wheel compliant locomotion torso-actuation
Acesso em linha:	https://www.mdpi.com/2673-4052/2/3/6
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