Full Content is available to subscribers

Subscribe/Learn More  >

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
  • 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


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



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In