Generating Locomotion with Effective Wheel Radius Manipulation
Tim Hojnik,Lachlan Pond,Ross Dungavell,Paul Flick,Jonathan Roberts,Tim Hojnik,Lachlan Pond,Ross Dungavell,Paul Flick,Jonathan Roberts
Travel over sloped terrain is difficult as an incline changes the interaction between each wheel and the ground resulting in an unbalanced load distribution which can lead to loss of traction and instability. This paper presents a novel approach to generating wheel rotation for primary locomotion by only changing its centre of rotation, or as a complimentary locomotion source to increase versatili...
