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Cylindabot: Transformable Wheg Robot Traversing Stepped and Sloped Environments

Woolley, Robert, Timmis, Jon and Tyrrell, Andy M. (2021) Cylindabot: Transformable Wheg Robot Traversing Stepped and Sloped Environments. Robotics, 10 (3). e104. ISSN 2218-6581

Item Type: Article

Abstract

The ability of an autonomous robot to adapt to different terrain affords the flexibility to move successfully in a range of environments. This paper proposes the Cylindabot, a transformable Wheg robot that can move with two large wheels, each of which can rotate out, producing three legs. This ability to change its mode of locomotion allows for specialised performance. The Cylindabot has been tested in simulation and on a physical robot on steps and slopes as an indication of its efficacy in different environments. These experiments show that such robots are capable of climbing up to a 32 degree slope and a step 1.43 times their initial height. Theoretical limits are devised that match the results, and a comparison with existing Wheg platforms is made.

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Additional Information: ** From MDPI via Jisc Publications Router ** History: accepted 02-08-2021; pub-electronic 30-08-2021. ** Licence for this article: https://creativecommons.org/licenses/by/4.0/
Uncontrolled Keywords: wheg, steps, slopes, mobile robots
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Depositing User: Publication Router

Identifiers

Item ID: 13895
Identification Number: https://doi.org/10.3390/robotics10030104
ISSN: 2218-6581
URI: http://sure.sunderland.ac.uk/id/eprint/13895
Official URL: https://www.mdpi.com/2218-6581/10/3/104

Users with ORCIDS

ORCID for Robert Woolley: ORCID iD orcid.org/0000-0002-7937-6582
ORCID for Jon Timmis: ORCID iD orcid.org/0000-0003-1055-0471
ORCID for Andy M. Tyrrell: ORCID iD orcid.org/0000-0002-8533-2404

Catalogue record

Date Deposited: 13 Sep 2021 16:20
Last Modified: 25 Jan 2022 08:52

Contributors

Author: Robert Woolley ORCID iD
Author: Jon Timmis ORCID iD
Author: Andy M. Tyrrell ORCID iD

University Divisions

Faculty of Technology

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