The smaller the robot the easier it is for it to access voids in a collapsed structure, however small size brings a host of other problems related to constrained resources. One of the primary constraints on small robots is limited motive power to surmount obstacles and navigate rough terrain. This thesis examines the addition of bulk motive force actuators to existing locomotion platforms and the impact of these heterogeneous actuators on conventional steering methods. The steering methods examined are those associated with skid steered vehicles and differential drive vehicles. In developing the Crabinator, a robot composed of a limbed crawler module and a single track drive module, it appeared that the resulting robot did not fit in the regime of differential drive. For that reason the heterogeneous differential drive class was developed. Similarly for the water hammer active tether module this system also did not appear to be a heterogeneous differential drive or skid steered vehicles. This system turned out to be even more general hence the more general class of heterogeneous drive vehicles which has input of accelerations rather then velocities as the previously mentioned classes.
","abstract_html":"<p>The smaller the robot the easier it is for it to access voids in a collapsed structure, however small size brings a host of other problems related to constrained resources. One of the primary constraints on small robots is limited motive power to surmount obstacles and navigate rough terrain. This thesis examines the addition of bulk motive force actuators to existing locomotion platforms and the impact of these heterogeneous actuators on conventional steering methods. The steering methods examined are those associated with skid steered vehicles and differential drive vehicles. In developing the Crabinator, a robot composed of a limbed crawler module and a single track drive module, it appeared that the resulting robot did not fit in the regime of differential drive. For that reason the heterogeneous differential drive class was developed. Similarly for the water hammer active tether module this system also did not appear to be a heterogeneous differential drive or skid steered vehicles. This system turned out to be even more general hence the more general class of heterogeneous drive vehicles which has input of accelerations rather then velocities as the previously mentioned classes.</p>","abstract_has_math":false,"creators":["Godzdanker, Roy"],"institution":null,"degree_name":"M.S.","degree_level":"Masters Thesis","degree_discipline":null,"degree_department":null,"school":null,"contributors":["Richard M. Voyles, Ph.D.","Corinne Lengsfeld","Siavash Pourkamali","Kimon P. Valavanis"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2009,"date_issued":"2009-01-01T08:00:00Z","date_published":"2009-01-01T08:00:00Z","updated_at":"2026-07-24T02:02:53Z","subjects":["Robotics","Bulk motive force actuators","Heterogeneous drive vehicles","Computer Engineering","Engineering","Mechanical Engineering"],"languages":["en"],"rights":["Copyright is held by the author. User is responsible for all copyright compliance.
"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://digitalcommons.du.edu/etd/814","outbound_label":"Repository record","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Richard M. Voyles, Ph.D.","Corinne Lengsfeld","Siavash Pourkamali","Kimon P. Valavanis"]},{"key":"dc:creator","label":"Author","values":["Godzdanker, Roy"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.available","label":"Dc Date Available","values":["2001-01-01T08:00:00Z"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Masters Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Robotics","Bulk motive force actuators","Heterogeneous drive vehicles","Computer Engineering","Engineering","Mechanical Engineering"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright is held by the author. User is responsible for all copyright compliance.
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"]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Heterogeneous Drive Mechanisms for Novel Locomotion in Rough Terrain"]}]}],"canonical_facts":{"dc:contributor":["Richard M. Voyles, Ph.D.","Corinne Lengsfeld","Siavash Pourkamali","Kimon P. Valavanis"],"dc:creator":["Godzdanker, Roy"],"dc:date.available":["2001-01-01T08:00:00Z"],"dc:description.abstract":["The smaller the robot the easier it is for it to access voids in a collapsed structure, however small size brings a host of other problems related to constrained resources. One of the primary constraints on small robots is limited motive power to surmount obstacles and navigate rough terrain. This thesis examines the addition of bulk motive force actuators to existing locomotion platforms and the impact of these heterogeneous actuators on conventional steering methods. The steering methods examined are those associated with skid steered vehicles and differential drive vehicles. In developing the Crabinator, a robot composed of a limbed crawler module and a single track drive module, it appeared that the resulting robot did not fit in the regime of differential drive. For that reason the heterogeneous differential drive class was developed. Similarly for the water hammer active tether module this system also did not appear to be a heterogeneous differential drive or skid steered vehicles. This system turned out to be even more general hence the more general class of heterogeneous drive vehicles which has input of accelerations rather then velocities as the previously mentioned classes.
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"],"dc:subject":["Robotics","Bulk motive force actuators","Heterogeneous drive vehicles","Computer Engineering","Engineering","Mechanical Engineering"],"dc:title":["Heterogeneous Drive Mechanisms for Novel Locomotion in Rough Terrain"],"thesis:degree_level":["Masters Thesis"],"thesis:degree_name":["M.S."]},"updated_at":"2026-07-24T02:02:53Z"}