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In general, the larger the wheel, the larger the obstacle a given vehicle can get over. In most simple suspension and drivetrain systems, a wheel will be able to roll itself over a step-like bump that is about one-third the diameter of the wheel. In a well-designed four-wheel drive off-road truck, this can be increased a little, but the limit in most suspensions is something less than half the diameter of the wheel. There are ways around this though. If a driven wheel is pushed against a wall that is taller than the wheel diameter with sufficient forward force relative to the vertical load on it, it will roll up the wall. This is the basis for the design of rocker bogie systems.
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Three wheels are the minimum required for static stability, and threewheeled robots are very common. They come in many varieties, from very simple two-actuator differential steer with fixed third wheel types, to relatively complex roller-walkers with wheels at the end of two or even three DOF legs. Mobility and complexity are increased by adding even more wheels. Let s take a look at wheeled vehicles in rough order of complexity. The most basic vehicle would have the least number of wheels. Believe it or not, it is possible to make a one-wheeled vehicle! This vehicle has limited mobility, but can get around relatively benign environments. Its wheel is actually a ball with an internal movable counterweight that, when not over the point of contact of the ball and the ground, causes the ball to roll. With some appropriate control on the counterweight and how it is attached and moved within the ball, the vehicle can be steered around clumsily. Its step-climbing ability is limited and depends on what the actual tire is made of, and the weight ratio between the tire and the counterweight. There are two obvious two wheeled layouts, wheels side by side, and wheels fore and aft. The common bicycle is perhaps one of the most recognized two-wheeled vehicles in the world. For robots, though, it is quite difficult to use because it is not inherently stable. The side by side layout is also not inherently stable, but is easier to control, at low speeds, than a bike. Dean Kamen developed the Segway two-wheeled balancing vehicle, proving it is possible, and is actually fairly mobile. It suffers from
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Tail dragger
the same limitation the single wheeled ball suffers from and cannot get over bumps much higher than one quarter a wheel height. The third, less obvious layout is to drag a passive leg or tail behind the vehicle. This tail counteracts the torque produced by the wheels, makes the vehicle statically stable, and increases, somewhat, the height of obstacle the robot can get over. The tail dragger is ultra-simple to control by independently varying the speed of the wheels. This serves to control both velocity and steering. The tail on robots using this layout must be light, strong, and just long enough to gain the mobility needed. Too long and it gets in the way when turning, too short and it doesn t increase mobility much at all. It can be either slightly flexible, or completely stiff. The tail end slides both fore and aft and side to side, requiring it to be of a shape that does not hang up on things. A ball shape, or a shape very similar, made of a low friction material like Teflon or polyethylene, usually works out best.
THREE-WHEELED LAYOUTS
The tail dragger demonstrates the simplest statically stable wheeled vehicle, but, unfortunately, it has limited mobility. Powering that third
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