Steady locomotion in torso-actuated rimless wheel robots

Rimless wheel robots are ground whose wheels have no rims or tires but only spokes. This paper considers torso-actuated robots. Each robot considered in this is composed of a single and torso connected to the centre by an actuated revolute joint. There been proposed several controllers for rimless robots; however, their locomotion properties poorly understood. For example, similarities differences between rimmed unknown. first investigates steady theoretically. Then, evaluated various parameters numerical simulations. Finally, discussed. In particular, it shown that speed-maximizing posture substantially shared among On other hand, some not them. The most significant difference relationship maximum speed radius. It concave parameter space robot, linear whole robot.