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Proceedings Paper

Leg pairs as virtual wheels
Author(s): Russel Howe; Mark Duttweiler; Luke Khanlian; Mark Setrakian
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Paper Abstract

We propose the use of virtual wheels as the starting point of a new vehicle design. Each virtual wheel incorporates a pair of simple legs that, by simulating the rotary motion and ground contact of a traditional wheel, combine many of the benefits of legged and wheeled motion. We describe the use of virtual wheels in the design of a robotic mule, presenting an analysis of the mule's mobility the results of our efforts to model and build such a device.

Paper Details

Date Published: 27 May 2005
PDF: 6 pages
Proc. SPIE 5804, Unmanned Ground Vehicle Technology VII, (27 May 2005); doi: 10.1117/12.606223
Show Author Affiliations
Russel Howe, Applied Minds (United States)
Mark Duttweiler, Applied Minds (United States)
Luke Khanlian, Applied Minds (United States)
Mark Setrakian, Applied Minds (United States)


Published in SPIE Proceedings Vol. 5804:
Unmanned Ground Vehicle Technology VII
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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