Posable Hubs For Robotic Platforms
This is the work of Hojnik, one of our PhD students working under the supervision of Professor Jonathan Roberts (QUT) and Mr Paul Flick (CSIRO), aiming to increase the traversability of robotic platforms in rough terrains as well as increase chassis stability, which allows carrying of sensitive payloads.
This video shows the functionality of a single wheel, independently of the rest of the system, as well as full pose adjustment using all four wheel to maintain a level chassis on sloped terrain.
It further demonstrates the rover’s ability to generate motorless, rotational, motion without the use of a DC power motor. This is done by offsetting the hubs to generate a moment about the wheel’s geometric centre of rotation, and convert gravitational potential energy to rotational energy.
In addition, it demonstrates active rover wheelbase adjustment which helps the rover dig itself out of a bog.
For more information visit: https://research.csiro.au/robotics/pa...