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.
- Design Engineering Division and Computers and Information in Engineering Division
RoboTrikke: Design, Modeling and Experimentation With a Robotic Trikke
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Chitta, S, Karabas, M, Galloway, KC, & Kumar, V. "RoboTrikke: Design, Modeling and Experimentation With a Robotic Trikke." Proceedings of the 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. pp. 741-748. ASME. https://doi.org/10.1115/DETC2006-99602
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