Page 49 - Introduction to Autonomous Mobile Robots

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Table 2.1 Chapter 2
Wheel configurations for rolling vehicles
# of Arrangement Description Typical examples
wheels

2 One steering wheel in the front, Bicycle, motorcycle
one traction wheel in the rear

Two-wheel differential drive Cye personal robot
with the center of mass (COM)
below the axle

3 Two-wheel centered differen- Nomad Scout, smartRob
tial drive with a third point of EPFL
contact

Two independently driven Many indoor robots,
wheels in the rear/front, 1 including the EPFL robots
unpowered omnidirectional Pygmalion and Alice
wheel in the front/rear

Two connected traction wheels Piaggio minitrucks
(differential) in rear, 1 steered
free wheel in front

Two free wheels in rear, 1 Neptune (Carnegie Mellon
steered traction wheel in front University), Hero-1

Three motorized Swedish or Stanford wheel
spherical wheels arranged in a Tribolo EPFL,
triangle; omnidirectional move- Palm Pilot Robot Kit
ment is possible (CMU)

Three synchronously motorized “Synchro drive”
and steered wheels; the orienta- Denning MRV-2, Geor-
tion is not controllable gia Institute of Technol-
ogy, I-Robot B24, Nomad
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