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Wheeled Robots

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Springer Handbook of Robotics

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Abstract

The purpose of this chapter is to introduce, analyze, and compare various wheeled mobile robots (GlossaryTerm

WMR

s) and to present several realizations and commonly encountered designs. The mobility of WMR is discussed on the basis of the kinematic constraints resulting from the pure rolling conditions at the contact points between the wheels and the ground. Practical robot structures are classified according to the number of wheels, and features are introduced focusing on commonly adopted designs. Omnimobile robot and articulated robots realizations are described. Wheel–terrain interaction models are presented in order to compute forces at the contact interface. Four possible wheel-terrain interaction cases are shown on the basis of relative stiffness of the wheel and terrain. A suspension system is required to move on uneven surfaces. Structures, dynamics, and important features of commonly used suspensions are explained.

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Abbreviations

ICR:

instantaneous center of rotation

WMR:

wheeled mobile robot

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Korea University, Anam-dong, Sungbuk-ku, 136-701, Seoul, Korea

    Woojin Chung

  2. Laboratory for Manufacturing and Productivity, Massachusetts Institute of Technology, 77 Massachusetts Avenue, MA 02139, Cambridge, USA

    Karl Iagnemma

Authors
  1. Woojin Chung
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  2. Karl Iagnemma
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Corresponding author

Correspondence to Woojin Chung .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

:

An omnidirectional mobile robot with active caster wheelsavailable from http://handbookofrobotics.org/view-chapter/24/videodetails/325

:

Articulated robot – a robot pushing 3 passive trailersavailable from http://handbookofrobotics.org/view-chapter/24/videodetails/326

:

An omnidirectional robot with 4 Mecanum Wheelsavailable from http://handbookofrobotics.org/view-chapter/24/videodetails/327

:

An omnidirectional robot with 4 Swedish wheelsavailable from http://handbookofrobotics.org/view-chapter/24/videodetails/328

:

An innovative space rover with extended climbing abilitiesavailable from http://handbookofrobotics.org/view-chapter/24/videodetails/239

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Chung, W., Iagnemma, K. (2016). Wheeled Robots. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_24

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  • DOI: https://doi.org/10.1007/978-3-319-32552-1_24

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-32550-7

  • Online ISBN: 978-3-319-32552-1

  • eBook Packages: EngineeringEngineering (R0)

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