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RoboTrikke: Design, Modeling and Experimentation With a Robotic Trikke

[+] Author Affiliations
Sachin Chitta, Mustafa Karabas, Kevin C. Galloway, Vijay Kumar

University of Pennsylvania, Philadelphia, PA

Paper No. DETC2006-99602, pp. 741-748; 8 pages
doi:10.1115/DETC2006-99602
From:
  • ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B
  • Philadelphia, Pennsylvania, USA, September 10–13, 2006
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4256-8 | eISBN: 0-7918-3784-X
  • Copyright © 2006 by ASME

abstract

In this paper we present new experimental results for a novel underactuated system called the ROBOTRIKKE. The ROBOTRIKKE is a three-wheeled system that can be driven by periodic motion of its front steering wheel combined with rocking side-to-side motion of a robotic rider. We present two new generations of the ROBOTRIKKE including a ABS model made using Shape Deposition Manufacturing (SDM). We present modeling, simulation and experimental results for gait generation for the ROBOTRIKKE using a combination of periodic inputs for the steering axis and a rider. We show how a rocking motion (as used by human riders) can be used to improve the performance of the ROBOTRIKKE.

Copyright © 2006 by ASME
Topics: Design , Modeling , Robotics

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