Cylindabot: Transformable Wheg robot traversing stepped and sloped environments

Robert Woolley; Jon Timmis; Andy Tyrrell

doi:10.3390/robotics10030104

Cylindabot: Transformable Wheg robot traversing stepped and sloped environments

Robert Woolley, Jon Timmis, Andy Tyrrell

Research output: Contribution to journal › Article › peer-review

Abstract

The ability for an autonomous robot to adapt to different terrain affords a flexibility to move successfully in a range of environments. This paper proposes the Cylindabot, a transformable Wheg robot that canmove with two large wheels, each of which can rotate out producing three legs. This ability to change its mode of locomotion allows for specialised performance. The Cylindabot has been tested in simulation and on a physical robot on steps and slopes as an indication of its efficacy in different environments. These experiments show that such robots are capable of climbing up to a 32 degree slope and a step 1.43 times its initial height. Theoretical limits are devised that match the results and a comparison with existing Wheg platforms is made.

Original language	English
Number of pages	16
Journal	MDPI Robotics
Volume	10
Issue number	104
DOIs	https://doi.org/10.3390/robotics10030104
Publication status	Published - 30 Aug 2021

Bibliographical note

Keywords

wheg
steps and slopes
mobile robots

Access to Document

10.3390/robotics10030104Licence: CC BY

robotics-10-00104-v2 (1)
© 2021 by the authors
Final published version, 45.3 MBLicence: CC BY

Cite this

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