We are delighted to inform you that Gourav Moger, a Robotics PhD student at the School of Engineering and Digital Sciences of Nazarbayev University under the supervision of Prof. Atakan Varol and a researcher at the Institute of Smart Systems and Artificial Intelligence (ISSAI), has had his latest work accepted for publication in the prestigious IEEE Transactions on Mechatronics (TMECH) journal. The paper is currently available in early access and can be viewed via https://doi.org/10.1109/TMECH.2024.3457011.
The paper details the development and experimental evaluation of the Improbability Roller-1, a mobile robot with variable-diameter wheels. This work focuses on the robot’s ability to adapt to different terrains and improve maneuverability through wheel size adjustments. The research includes the development of a kinematic model, an open-loop control strategy, and extensive testing to validate its performance. Experimental videos of the robot can be found on the ISSAI YouTube channel: Video 1, Video 2, and Video 3.