We present CHUTNI (Compensated Holonomic Uneven Terrain Isolator), an off-road differential-drive with offset turret platform that delivers holonomic control of a stabilized turret on uneven terrain. CHUTNI uses simple drive wheels on a rocker suspension to keep both wheels in contact with the ground, while an actively stabilized gimbal with three degrees of freedom, i.e., …
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New developments in robotics have allowed robots to become very small, and capable of completing tasks humans cannot. Current robots capable of achieving this are physically limited in how small they can be without compromising on other aspects such as sensing, strength, or complexity. Thus, we strive to understand how we can more compactly map …
We extract thrust, roll, and pitch authority from a single propeller and single motor through an underactuated mechanism embedded in the rotor itself. This allows new types of conventionally-capable micro air vehicles now requiring only two motors. This contrasts with the servos and linkages of conventional helicopters or the four drive motors in quadrotors.