Analyses, simulation and control of a wheeled-vehicle with AWIS (Auxiliary Wheels of Involute-Shape) [thesis]

Purnawali Hendra
The environment where human beings live in has naturally uneven surfaces. Legs owned by most living creatures enable them to move easily and traverse a wide range of obstacles on the land. However, the efficiency of the legs is relatively low; therefore, means of transportation, especially wheeledvehicles are developed to assist humans due to wheels' efficiency. Nonetheless, wheeled-vehicles have limited mobility while moving on rough terrain. This triggers worldwide researchers to develop
more » ... vehicles based on others locomotion mechanisms, such as legged-vehicles, tracked-vehicles, or combination of the existing modes. This project focuses on the development of the wheeled-vehicles by introducing AWIS, which stands for Auxiliary Wheels of Involute-Shape.
doi:10.32657/10356/5275 fatcat:3ynfflhhdvh2bdcqoiffj4ffry