Verification of versatility of trochoid mobility by camber angle control

-A mechanism for omnidirectional mobility without omniwheels (IX)-

Abstract

As generalized in the previous report, camber angle control is essential for non-slip running on a curved trajectory in a wheel running system that runs with an axisymmetric rotating body on the ground. In this report, we propose a wheel control strategy to realize non-slip omnidirectional movement only by controlling the camber angle. The configuration of a truncated cone wheel as an example of its implementation and its application to a curved crawler running system using the wheel as a sprocket are discussed..