Effect of Tire Design and Steering Mode on Robotic Mobility in Barren Terrain ...
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 vehicle on natural terrain with slow but capable locomotors character...
| Main Authors: | , , , |
|---|---|
| Format: | Other Non-Article Part of Journal/Newspaper |
| Language: | unknown |
| Published: |
Carnegie Mellon University
1999
|
| Subjects: | |
| Online Access: | https://dx.doi.org/10.1184/r1/6554660.v1 https://kilthub.cmu.edu/articles/Effect_of_Tire_Design_and_Steering_Mode_on_Robotic_Mobility_in_Barren_Terrain/6554660/1 |
| Summary: | 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 vehicle on natural terrain with slow but capable locomotors characteristic of planetary robotic vehicles is the scope of this research. Two tire designs were developed, implemented and evaluated 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, specialized 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 ... |
|---|