"Deformable wheel" - A self-recovering modular rolling track

Harris Chi Ho Chiu, Michael Rubenstein, Wei Min Shen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

The rolling track is an effective modular robot configuration with high maneuverability. However, one technical barrier that prevents it from practical usage is that most existing rolling track robots must start from a typical stand-up position and they are also difficult to turn while rolling. This paper presents a solution for these problems. By extending our previous work, we have developed a set of new gaits for the rolling track to self-standup, roll and turn. The combination of these behaviors on a single SuperBot rolling track has enabled it to roll from any initial conditions, steer while rolling, and recover from falling sideways. These new gaits have been demonstrated with 6 modules in hardware and 8 and 10 modules in simulation. In addition, the new gaits can be activated even reconfiguring from a snake configuration.

Original languageEnglish (US)
Title of host publicationDistributed Autonomous Robotic Systems 8
Pages429-440
Number of pages12
DOIs
StatePublished - Dec 1 2009
Event9th International Symposia on Distributed Autonomous Robotic Systems, DARS 2008 - Tsukuba, Japan
Duration: Nov 17 2008Nov 19 2008

Publication series

NameDistributed Autonomous Robotic Systems 8

Other

Other9th International Symposia on Distributed Autonomous Robotic Systems, DARS 2008
CountryJapan
CityTsukuba
Period11/17/0811/19/08

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Chiu, H. C. H., Rubenstein, M., & Shen, W. M. (2009). "Deformable wheel" - A self-recovering modular rolling track. In Distributed Autonomous Robotic Systems 8 (pp. 429-440). (Distributed Autonomous Robotic Systems 8). https://doi.org/10.1007/978-3-642-00644-9-38