Leg pairs as virtual wheels

Russel Howe; Mark Duttweiler; Luke Khanlian; Mark Setrakian

doi:10.1117/12.606223

27 May 2005 Leg pairs as virtual wheels

Russel Howe, Mark Duttweiler, Luke Khanlian, Mark Setrakian

Proceedings Volume 5804, Unmanned Ground Vehicle Technology VII; (2005) https://doi.org/10.1117/12.606223
Event: Defense and Security, 2005, Orlando, Florida, United States

Abstract

We propose the use of virtual wheels as the starting point of a new vehicle design. Each virtual wheel incorporates a pair of simple legs that, by simulating the rotary motion and ground contact of a traditional wheel, combine many of the benefits of legged and wheeled motion. We describe the use of virtual wheels in the design of a robotic mule, presenting an analysis of the mule's mobility the results of our efforts to model and build such a device.

Citation Download Citation

Russel Howe, Mark Duttweiler, Luke Khanlian, and Mark Setrakian "Leg pairs as virtual wheels", Proc. SPIE 5804, Unmanned Ground Vehicle Technology VII, (27 May 2005); https://doi.org/10.1117/12.606223

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