A compact and agile angled-spoke wheel-based mobile robot for uneven and granular terrains

Abstract

This study proposes an angled spoke-based wheel(ASW) design to enhance the driving speed of a mobile robot with angled spoke-based wheels called DODO on granular media, asphalt ground, and transitions between them. The design parameters were optimized using the Taguchi method and L 9 orthogonal array. The contact method of the feet was selected as a single contact through empirical analysis. Toe in and toe out angles of 15 were applied to the front and rear ASWs. The front and rear ASWs had a 30 phase difference to minimize the reciprocation of the center of mass along the z-axis. A static analysis of DODO, as well as experimental dynamic analyses were performed. The driving speed of DODO on transitions were verified with the result of static analysis.