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IROS
2008
IEEE

Wheeled locomotion for payload carrying with modular robot

10 years 3 months ago
Wheeled locomotion for payload carrying with modular robot
— Carrying heavy payloads is a challenging task for the modular robot, because its composing modules are relatively tiny and less strong compared with conventional robots. To accomplish this task, we attached passive rollers to the modular robot, and designed a wheeled locomotion gait called tricycleBot. The gait is inspired by paddling motion, and is implemented on the modular robot called SuperBot. Features of this gait are systematically studied and verified through extensive experiments. It is shown that tricycleBot can carry payloads at least 530% of its own weight. It can also be steered remotely to move forward/backward, turn left/right. Capability of tricycleBot demonstrates that the versatility of modular robot can be further expanded to solve very specialized and challenging tasks by using heterogeneous devices.
Feili Hou, Nadeesha Ranasinghe, Behnam Salemi, Wei
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Feili Hou, Nadeesha Ranasinghe, Behnam Salemi, Wei-Min Shen
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