Compliance-Tuning Soft Inflatable Wheels for Robot Mobility on Various Terrains

Performance of a rigid wheel on deformable soils has been studied extensively, however little research had focused on inflatable soft wheels. In this project, we have designed and constructed a pneumatic actuated compliance tuning wheel. Unlike traditional rigid rim wheels, the proposed design embeds air bladders between the wheel grousers. Inflated air bladders provide additional traction by increasing the wheel's contact area with the ground. The wheel was tested for slippage on deformable sandy terrain, rough obstacles and smooth metal surfaces. Reduced slippage was observed with bladder inflation in both a sandy terrain test and obstacle test. A smoother forward motion was observed in all test conditions with inflated bladders. The wheel's capability of climbing was also evaluated qualitatively on a smooth metal-surface slope. As the slope angle increased, the bladder inflation proved to be necessary in order to successfully climb. Overall, the mobility of the wheel was improved on various terrains by the addition of inflatable soft air bladders.