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Wheeled robots
Chung, W.; Iagnemma, K. (2016). Wheeled robots, in: Siciliano, B. et al. Springer handbook of robotics. pp. 575-594. https://dx.doi.org/10.1007/978-3-319-32552-1_24
In: Siciliano, B.; Khatib, O. (Ed.) (2016). Springer handbook of robotics. Second edition. Springer Verlag: Berlin. ISBN 978-3-319-32550-7; e-ISBN 978-3-319-32552-1. LXXVI, 2227 pp. https://dx.doi.org/10.1007/978-3-319-32552-1, more
Authors  Top 
  • Chung, W.
  • Iagnemma, K.
Abstract
    The purpose of this chapter is to introduce, analyze, and compare various wheeled mobile robots (WMR s) and to present several realizations and commonly encountered designs. The mobility of WMR is discussed on the basis of the kinematic constraints resulting from the pure rolling conditions at the contact points between the wheels and the ground. Practical robot structures are classified according to the number of wheels, and features are introduced focusing on commonly adopted designs. Omnimobile robot and articulated robots realizations are described. Wheel–terrain interaction models are presented in order to compute forces at the contact interface. Four possible wheel-terrain interaction cases are shown on the basis of relative stiffness of the wheel and terrain. A suspension system is required to move on uneven surfaces. Structures, dynamics, and important features of commonly used suspensions are explained.
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