Novel Compliant omnicrawler-wheel transforming module
This work addresses locomotion versatility for hybrid robots like CObRaSO, offering an incremental improvement by adding a wheel mode to existing tracked and legged mechanisms.
The paper tackles the problem of limited locomotion modes in hybrid robots by introducing a novel transforming module that enables a crawler robot to switch between omni-crawler and large-wheel modes without extra actuators, resulting in enhanced maneuverability with features like a small turning radius and fast, efficient locomotion.
This paper presents a novel design of a crawler robot which is capable of transforming its chassis from an Omni crawler mode to a large-sized wheel mode using a novel mechanism. The transformation occurs without any additional actuators. Interestingly the robot can transform into a large diameter and small width wheel which enhances its maneuverability like small turning radius and fast/efficient locomotion. This paper contributes on improving the locomotion mode of previously developed hybrid compliant omnicrawler robot CObRaSO. In addition to legged and tracked mechanism, CObRaSO can now display large wheel mode which contributes to its locomotion capabilities. Mechanical design of the robot has been explained in a detailed manner in this paper and also the transforming experiment and torque analysis has been shown clearly