[Bubble One Minute] A Compact and Flexible Angular-Spoke Wheel Robot for Uneven and Granular Terrain

An ICRA 2022 paper proposes a mobile robot named DODO, which uses an angled-spoke wheel (ASW) design to improve driving speed on granular media, asphalt ground, and the transition zones between them. The study used the Taguchi method and an L9 orthogonal array to optimize design parameters, and through experiments selected a single-contact foot configuration, with front and rear ASW toe-in/toe-out angles of 15° and a 30° phase difference to reduce reciprocating motion of the center of mass along the Z axis.