Effect of Tire Design and Steering Mode on Robotic Mobility in Barren Terrain”, William “Red” Whittaker Field Robotics Center, The Robotics Institute Carnegie Mellon University, Proceeding of the International Conference on Field and Service Robots
ABSTRACT–Robotic tasks call for a range of steering activity: one extreme is highway driving with negligible turning for hundreds of kilometers; another is forklift handling, which calls for agile turning. Steady state turning of a wheeled vehi-cle on natural terrain with slow but capable locomotors...
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ftciteseerx:oai:CiteSeerX.psu:10.1.1.575.1541 2023-05-15T13:51:46+02:00 Effect of Tire Design and Steering Mode on Robotic Mobility in Barren Terrain”, William “Red” Whittaker Field Robotics Center, The Robotics Institute Carnegie Mellon University, Proceeding of the International Conference on Field and Service Robots Ben Shamah Dimi Apostolopoulos Michael Wagner William “red Whittaker The Pennsylvania State University CiteSeerX Archives 1999 application/pdf http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.575.1541 http://www.frc.ri.cmu.edu/projects/meteorobot/exp2k/2001PUBLICATIONS/FSR99-MOBILITY.pdf en eng http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.575.1541 http://www.frc.ri.cmu.edu/projects/meteorobot/exp2k/2001PUBLICATIONS/FSR99-MOBILITY.pdf Metadata may be used without restrictions as long as the oai identifier remains attached to it. http://www.frc.ri.cmu.edu/projects/meteorobot/exp2k/2001PUBLICATIONS/FSR99-MOBILITY.pdf Nomad locomotion robotic locomotion robot performance steering performance skid steering text 1999 ftciteseerx 2016-01-08T12:42:58Z ABSTRACT–Robotic tasks call for a range of steering activity: one extreme is highway driving with negligible turning for hundreds of kilometers; another is forklift handling, which calls for agile turning. Steady state turning of a wheeled vehi-cle on natural terrain with slow but capable locomotors char-acteristic of planetary robotic vehicles is the scope of this research. Two tire designs were developed, implemented and evalu-ated aboard the Nomad robot, enabling a comparative study of their effect on mobility and steering. Rigid tires, utilized on desert terrain, are relevant to planetary exploration where elastomeric tires are inappropriate. Pneumatic tires, special-ized for Antarctic terrain, achieved performance advantages on ice. The research presented here investigates the collateral issues of steering and mobility for the two tire designs. Experiments involve a single robot that can exhibit both skid and explicit steering while driving in steady state circles on gravel terrain. Skid steering is accomplished through the creation of a differential velocity between the inner and outer wheels. In explicit steering, a change in the heading of the wheels causes a modification to the vehicle heading. Power draw, individual wheel torque, and position data have been gathered for the purpose of quantifying performance. The experimental results show that power and torque for skid and explicit turning degenerate to equal values at infinite radius (straight driving). As the turn radius decreases from that of straight driving to that of a point turn, greater power and torque are necessary as larger slip angles are induced. In the limiting case of a point turn, with both rigid and pneumatic tires, the power for skid steering is on the order of double that of an explicit point turn. For explicit steering, with turns greater than a radius of 4 m, the pneumatic tires exhibit a lower power draw than rigid tires. Text Antarc* Antarctic Unknown Antarctic |
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Nomad locomotion robotic locomotion robot performance steering performance skid steering |
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Nomad locomotion robotic locomotion robot performance steering performance skid steering Ben Shamah Dimi Apostolopoulos Michael Wagner William “red Whittaker Effect of Tire Design and Steering Mode on Robotic Mobility in Barren Terrain”, William “Red” Whittaker Field Robotics Center, The Robotics Institute Carnegie Mellon University, Proceeding of the International Conference on Field and Service Robots |
topic_facet |
Nomad locomotion robotic locomotion robot performance steering performance skid steering |
description |
ABSTRACT–Robotic tasks call for a range of steering activity: one extreme is highway driving with negligible turning for hundreds of kilometers; another is forklift handling, which calls for agile turning. Steady state turning of a wheeled vehi-cle on natural terrain with slow but capable locomotors char-acteristic of planetary robotic vehicles is the scope of this research. Two tire designs were developed, implemented and evalu-ated aboard the Nomad robot, enabling a comparative study of their effect on mobility and steering. Rigid tires, utilized on desert terrain, are relevant to planetary exploration where elastomeric tires are inappropriate. Pneumatic tires, special-ized for Antarctic terrain, achieved performance advantages on ice. The research presented here investigates the collateral issues of steering and mobility for the two tire designs. Experiments involve a single robot that can exhibit both skid and explicit steering while driving in steady state circles on gravel terrain. Skid steering is accomplished through the creation of a differential velocity between the inner and outer wheels. In explicit steering, a change in the heading of the wheels causes a modification to the vehicle heading. Power draw, individual wheel torque, and position data have been gathered for the purpose of quantifying performance. The experimental results show that power and torque for skid and explicit turning degenerate to equal values at infinite radius (straight driving). As the turn radius decreases from that of straight driving to that of a point turn, greater power and torque are necessary as larger slip angles are induced. In the limiting case of a point turn, with both rigid and pneumatic tires, the power for skid steering is on the order of double that of an explicit point turn. For explicit steering, with turns greater than a radius of 4 m, the pneumatic tires exhibit a lower power draw than rigid tires. |
author2 |
The Pennsylvania State University CiteSeerX Archives |
format |
Text |
author |
Ben Shamah Dimi Apostolopoulos Michael Wagner William “red Whittaker |
author_facet |
Ben Shamah Dimi Apostolopoulos Michael Wagner William “red Whittaker |
author_sort |
Ben Shamah |
title |
Effect of Tire Design and Steering Mode on Robotic Mobility in Barren Terrain”, William “Red” Whittaker Field Robotics Center, The Robotics Institute Carnegie Mellon University, Proceeding of the International Conference on Field and Service Robots |
title_short |
Effect of Tire Design and Steering Mode on Robotic Mobility in Barren Terrain”, William “Red” Whittaker Field Robotics Center, The Robotics Institute Carnegie Mellon University, Proceeding of the International Conference on Field and Service Robots |
title_full |
Effect of Tire Design and Steering Mode on Robotic Mobility in Barren Terrain”, William “Red” Whittaker Field Robotics Center, The Robotics Institute Carnegie Mellon University, Proceeding of the International Conference on Field and Service Robots |
title_fullStr |
Effect of Tire Design and Steering Mode on Robotic Mobility in Barren Terrain”, William “Red” Whittaker Field Robotics Center, The Robotics Institute Carnegie Mellon University, Proceeding of the International Conference on Field and Service Robots |
title_full_unstemmed |
Effect of Tire Design and Steering Mode on Robotic Mobility in Barren Terrain”, William “Red” Whittaker Field Robotics Center, The Robotics Institute Carnegie Mellon University, Proceeding of the International Conference on Field and Service Robots |
title_sort |
effect of tire design and steering mode on robotic mobility in barren terrain”, william “red” whittaker field robotics center, the robotics institute carnegie mellon university, proceeding of the international conference on field and service robots |
publishDate |
1999 |
url |
http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.575.1541 http://www.frc.ri.cmu.edu/projects/meteorobot/exp2k/2001PUBLICATIONS/FSR99-MOBILITY.pdf |
geographic |
Antarctic |
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Antarctic |
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Antarc* Antarctic |
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Antarc* Antarctic |
op_source |
http://www.frc.ri.cmu.edu/projects/meteorobot/exp2k/2001PUBLICATIONS/FSR99-MOBILITY.pdf |
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http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.575.1541 http://www.frc.ri.cmu.edu/projects/meteorobot/exp2k/2001PUBLICATIONS/FSR99-MOBILITY.pdf |
op_rights |
Metadata may be used without restrictions as long as the oai identifier remains attached to it. |
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