LOCOMOTION UNITS AND METHODS OF ACHIEVING LOCOMOTION IN TETRAHEDRAL-STRUCTURE ROBOTS

Anca-Corina SIMEREAN, Mihai Olimpiu TĂTAR

Abstract


The paper presents a comparative evaluation of various locomotion units, ranging from standard wheels to complex omnidirectional designs, using criteria such as energy efficiency, cost, vibration levels, structural complexity, and compatibility with the overall structure. The results indicate that the spherical Omni-Ball locomotion unit represents the optimal solution, providing an ideal balance across all analyzed criteria. Additionally, different locomotion methods are explored, including rolling with or without impact, crawling, and resonance-based motion, highlighting the advantages and limitations of each. The article also proposes innovative solutions, including hybrid systems and a novel configuration in which locomotion units are mounted on the faces of the tetrahedron to enhance stability. Finally, future research directions are discussed, focusing on the optimization of intelligent control and the development of structures capable of efficiently transitioning between different modes of movement.

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References


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