Abstract
Variably Configured Segmented Wheels (VCSW) for driving on snow can be available for snow rescue robot. However, because of many irregularities on the snow road, it is necessary to improve the performance of ground contact. Free joint mechanism is equipped with four-wheel vehicles as the suspension. In addition, another free joint is also applied to improve steering performance. All four wheels of the vehicle are controlled by speed servo systems. Effectiveness of the speed servos are tested successfully. Step climbing experiment, the vehicle surmounted high step which is 93% of wheel radius. Turning experiments to improve the steering performance show the necessity of yaw control.
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