Table 1 Comparison of various tri-wheel-based stair-climbing robots.
Name | CSTW | Tri-wheel | STEP | LEVO |
|---|---|---|---|---|
Picture |
|
|
|
|
Mechanism | Curved-spoke tri-wheel | Tri-Wheel | 2-DOF transformable wheel | CSTW with switching primitives |
Flat terrain mobility | − | + | − | + |
Stair-climbing stability | − | + | − | − |
Design complexity | + | − | − | − |
Characteristic | Fast climbing speed | Smooth and rapid level ground operation Tumbling mode | Shape-morphing wheel | Wheel-mode switching Flat ground operation |
