Design of wheeled mobile robots with advanced drives

Chao Chen, Jorge Angeles

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

24 Citations (Scopus)


The dual-wheel transmission is a novel drive for wheeled mobile robots; it provides unique features: symmetric structure; load distribution; unlimited steering capacity; and self-rotation while keeping the platform stationary. This paper discusses alternative prototypes of mobile robots with dual-wheel transmissions. We find the conditions of the design parameters in each prototype to achieve isotropic designs, which guarantee optimum maneuverability.

Original languageEnglish
Title of host publicationProceedings of the IDETC/CIE 2007 ASME 2007 Int. Design Eng. Tech. Conf. & Computers & Information in Eng. Conf.
EditorsHorn-Sen Tzou, Nader Jalili
Place of PublicationNew York, USA
PublisherAmerican Society of Mechanical Engineers (ASME)
Number of pages7
ISBN (Print)0791848027, 9780791848029, 0791848094, 9780791848098
Publication statusPublished - 2007
Externally publishedYes
Event31st Mechanisms and Robotics Conference - Las Vegas Nevada, United States of America
Duration: 4 Sept 20077 Sept 2007
Conference number: 31


Conference31st Mechanisms and Robotics Conference
Country/TerritoryUnited States of America
CityLas Vegas Nevada
OtherThis conference is held at the overarching "ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE)"

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