Design and modeling of a novel single-actuator differentially driven robot

@article{Sfeir2014DesignAM,
  title={Design and modeling of a novel single-actuator differentially driven robot},
  author={Joy Sfeir and Elie A. Shammas and Daniel C. Asmar},
  journal={2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics},
  year={2014},
  pages={1079-1084}
}
In this paper, we introduce a concept design for a single-actuator differentially driven robot. The design is based on connecting two variable-diameter wheels to the same drive shaft. The wheels are designed to have engineered stiffness so that the diameters of the wheels are varied by shifting the weight of the drive mechanism from side to side. We also develop the kinostatic and dynamic models of the mobile platform, which is used later to perform motion planning techniques. 

Citations

Publications citing this paper.
SHOWING 1-4 OF 4 CITATIONS

Insights into the Constrained Hamiltonian dynamics formulation of the Unicycle

  • 2018 IEEE International Multidisciplinary Conference on Engineering Technology (IMCET)
  • 2018
VIEW 1 EXCERPT
CITES METHODS

Modeling of a variable diameter wheeled robot for traversing rough terrain

  • 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)
  • 2016
VIEW 2 EXCERPTS
CITES BACKGROUND

Modeling, analysis, and controllability of a single-actuator differentially-driven robot

  • 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)
  • 2015
VIEW 3 EXCERPTS
CITES BACKGROUND & METHODS

References

Publications referenced by this paper.
SHOWING 1-8 OF 8 REFERENCES

A novel high adaptability out-door mobile robot with diameter-variable wheels

  • 2011 IEEE International Conference on Information and Automation
  • 2011
VIEW 2 EXCERPTS

Variable-diameter mobile platform chassis characteristics analysis

  • 2011 International Conference on New Technology of Agricultural
  • 2011
VIEW 2 EXCERPTS

Design of an innovative unfoldable wheel with contact surface adaptation mechanism for planetary rovers

C. Grand, P. Bidaud, N. Jarrass
  • Proc. 9th ESA Workshop Advanced Space Technologies for Robotics and Automation (ASTRA), Jan. 2006.
  • 2006
VIEW 2 EXCERPTS

Mobility enhancements to the Scout robot platform

  • Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
  • 2002
VIEW 1 EXCERPT

Segway robotic mobility platform

  • SPIE Optics East
  • 2002
VIEW 1 EXCERPT