Cylindabot: Transformable Wheg Robot Traversing Stepped and Sloped Environments
The ability of an autonomous robot to adapt to different terrain affords the flexibility to move successfully in a range of environments. This paper proposes the Cylindabot, a transformable Wheg robot that can move with two large wheels, each of which can rotate out, producing three legs. This abili...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-08-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/10/3/104 |
| _version_ | 1797517250974973952 |
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| author | Robert Woolley Jon Timmis Andy M. Tyrrell |
| author_facet | Robert Woolley Jon Timmis Andy M. Tyrrell |
| author_sort | Robert Woolley |
| collection | DOAJ |
| description | The ability of an autonomous robot to adapt to different terrain affords the flexibility to move successfully in a range of environments. This paper proposes the Cylindabot, a transformable Wheg robot that can move 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 their initial height. Theoretical limits are devised that match the results, and a comparison with existing Wheg platforms is made. |
| first_indexed | 2024-03-10T07:14:06Z |
| format | Article |
| id | doaj.art-1ace0965ee14474dba940c01b6754115 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-10T07:14:06Z |
| publishDate | 2021-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-1ace0965ee14474dba940c01b67541152023-11-22T15:09:21ZengMDPI AGRobotics2218-65812021-08-0110310410.3390/robotics10030104Cylindabot: Transformable Wheg Robot Traversing Stepped and Sloped EnvironmentsRobert Woolley0Jon Timmis1Andy M. Tyrrell2Department of Electronic Engineering, University of York, York YO10 5DD, UKSchool of Computer Science, University of Sunderland, Sunderland SR1 3SD, UKDepartment of Electronic Engineering, University of York, York YO10 5DD, UKThe ability of an autonomous robot to adapt to different terrain affords the flexibility to move successfully in a range of environments. This paper proposes the Cylindabot, a transformable Wheg robot that can move 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 their initial height. Theoretical limits are devised that match the results, and a comparison with existing Wheg platforms is made.https://www.mdpi.com/2218-6581/10/3/104whegstepsslopesmobile robots |
| spellingShingle | Robert Woolley Jon Timmis Andy M. Tyrrell Cylindabot: Transformable Wheg Robot Traversing Stepped and Sloped Environments Robotics wheg steps slopes mobile robots |
| title | Cylindabot: Transformable Wheg Robot Traversing Stepped and Sloped Environments |
| title_full | Cylindabot: Transformable Wheg Robot Traversing Stepped and Sloped Environments |
| title_fullStr | Cylindabot: Transformable Wheg Robot Traversing Stepped and Sloped Environments |
| title_full_unstemmed | Cylindabot: Transformable Wheg Robot Traversing Stepped and Sloped Environments |
| title_short | Cylindabot: Transformable Wheg Robot Traversing Stepped and Sloped Environments |
| title_sort | cylindabot transformable wheg robot traversing stepped and sloped environments |
| topic | wheg steps slopes mobile robots |
| url | https://www.mdpi.com/2218-6581/10/3/104 |
| work_keys_str_mv | AT robertwoolley cylindabottransformablewhegrobottraversingsteppedandslopedenvironments AT jontimmis cylindabottransformablewhegrobottraversingsteppedandslopedenvironments AT andymtyrrell cylindabottransformablewhegrobottraversingsteppedandslopedenvironments |