Development of novel mobile robot with semicircular wheels

This paper describes development of a mobile robot using semicircular wheels on uneven terrain. It performs the crawl gait on flat ground without changing potential energy and the butterfly gait to climb over debris. We also used crawl gait to perform turning motion. The butterfly gait is used to climb over high steps. Turning motion is achieved not only by creating a difference in angular velocity between the wheels on both sides, but also by keeping the crawl gait. We achieved continuous movement from turning motion to pivot turning. We conducted an experiment on the movement and turning motion on flat ground using crawl gait.