ROBOTS: Rollers and Walkers Larry Clark TOPICS MOBILE ROBOTS WHEELED ROBOTS WHEELED ROBOT PHYSICS LEGGED ROBOTS MOBILE ROBOTS TYPES Wheeled Legged Serpentine Robots Difficulties of Mobile Ro bots FMSs & AGVs Sinusoidal WHEELED ROBOTS Pros Cons Types Four Wheeled
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Rollers and Walkers
Ft = Fa + Fr + Fd + Fg Newton
Power = traction force x vehicle speed / transmission efficiency
Motor torque = power / 2π motor velocity
Battery energy = traction force x distance traveled