$\mathbf{\alpha }$-WaLTR: Adaptive Wheel-and-Leg Transformable Robot for Versatile Multiterrain Locomotion

Zheng, Chuanqi; Sane, Siddharth; Lee, Kangneoung; Kalyanram, Vishnu

doi:10.1109/tro.2022.3226114

Cited by 19 publications

(6 citation statements)

References 71 publications

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“…Recent innovations offer cost-effective adaptive capabilities, although challenges such as control instabilities related to trajectory [79], [80], limitations of adaptive control algorithms in real-time scenarios [122], tracking anomalies, and computational burdens with Model Predictive Control (MPC) persist [81], [82]. Addressing these challenges has the potential to revolutionize energy efficiency in bipedal movements [5], [12], [83].…”

Section: Stability and Locomotion In Bipedal Wheel-legged Robotsmentioning

confidence: 99%

Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

Mansor,

Irawan,

Abas

2023

IJRCS

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This comprehensive review delves into the realm of bipedal wheel-legged robots, focusing on their design, control, and applications in assistive technology and disaster mitigation. Drawing insights from various fields such as robotics, computer science, and biomechanics, it offers a holistic understanding of these robots' stability, adaptability, and efficiency. The analysis encompasses optimization techniques, sensor integration, machine learning, and adaptive control methods, evaluating their impact on robot capabilities. Emphasizing the need for adaptable, terrain-aware control algorithms, the review explores the untapped potential of machine learning and soft robotics in enhancing performance across diverse operational scenarios. It highlights the advantages of hybrid models combining legged and wheeled mobility while stressing the importance of refining control frameworks, trajectory planning, and human-robot interactions. The concept of integrating soft and compliant mechanisms for improved adaptability and resilience is introduced. Identifying gaps in current research, the review suggests future directions for investigation in the fields of robotics and control engineering, addressing the evolution and terrain adaptability of bipedal wheel-legged robots, control, stability, and locomotion, as well as integrated sensory and perception systems, microcontrollers, cutting-edge technology, and future design and control directions.

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Section: Stability and Locomotion In Bipedal Wheel-legged Robotsmentioning

confidence: 99%

Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

Mansor,

Irawan,

Abas

2023

IJRCS

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“…The angular velocity of the robot motors was varied from w 0 = 15 rpm and ended the simulation with w f = 10 rpm. These angular velocities, according to different authors, show some variations, with [29] using 6.667 rpm, whereas [30,31] used 15 rpm, and [32] used 16.5 rpm. Two external forces, F ex (20 lbf) are applied to the ends of the structure due to the design of it, which is hollow in the center.…”

Section: Simulationmentioning

confidence: 99%

Designing Legged Wheels for Stair Climbing

Ordoñez-Avila,

Moreno,

Perdomo

et al. 2023

Symmetry

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Mobile robotics has been used in recent years to provide various types of services in fields such as agriculture, surveillance, rehabilitation, space exploration, and logistics, among others. In many cases, mobile robots need to overcome complex obstacles where traditional wheels are not the best solution, and many researchers have proposed legged wheel hybrid designs. This paper presents a comprehensive study on the effect of the geometry of legged wheels on the performance of mobile robots in climbing stairs. The method used to develop this research is dynamic simulation, in which the parameters that affect the kinematics and dynamics of the robot are included. Subsequently, the results of how the robot manages to perform the test, the torque of the motors, and the contact force of the wheels are analyzed. The main hypothesis of this research is that the opening of the legs of the wheels is a geometric parameter that determines whether the structure will be able to climb the stairs. After 63 simulations, the proportional relationship between the diagonal of the stands and the opening of the wheel legs ranges between 1.11 and 1.53. This parameter showed a strong correlation with the torque of the motors and significant differences in terms of the simulations that succeeded in climbing the stairs and those that did not. These results were used to state a design method for flat, robotic structures using legged wheels. This method was validated by an additional simulation that was performed for a four-legged wheel. It can be concluded that the contribution of this work is a series of steps with which to design these mechanical structures to climb the stairs based on the proposed indicator.

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“…Other studies have pursued switching between wheeled and legged locomotion by developing transformable robots. Several robots have been designed to convert their wheels into passive legs for navigating challenging terrain [11], [12]. These robots exhibit a comparable configuration and operational concept, possessing four wheels that can transform into noncircular-shaped legs.…”

Section: Introductionmentioning

confidence: 99%

Ringbot: Monocycle Robot With Legs

Gim,

Kim

2024

IEEE Trans. Robot.

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This paper presents the development and evaluation of Ringbot, a novel leg-wheel transformer robot incorporating a monocycle mechanism with legs. Ringbot aims to provide versatile mobility by replacing the driver and driving components of a conventional monocycle vehicle with legs mounted on compact driving modules inside the wheel. The paper covers the hardware and software implementation of a prototype robot. The Ringbot prototype features a wheel and two driving modules located inside, each equipped with a 3-DoF leg for balancing, steering, and legged motions to assist monocycle driving. The driving control is achieved through decoupled speed controller and steering controller. In addition, active-legged motions are implemented and managed through a finite-state machine. The controllers for wheeled driving and legged motions were tested in a simulation environment, as well as on the hardware prototype, to verify the concept of a monocycle with legs and evaluate the prototype's capabilities.

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$\mathbf{\alpha }$-WaLTR: Adaptive Wheel-and-Leg Transformable Robot for Versatile Multiterrain Locomotion

Cited by 19 publications

References 71 publications

Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

Evolution, Design, and Future Trajectories on Bipedal Wheel-legged Robot: A Comprehensive Review

Designing Legged Wheels for Stair Climbing

Ringbot: Monocycle Robot With Legs

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