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Most mobile robots use wheels that perform well on even and structured ground, like in factories and warehouses. However, they face challenges traversing unstructured terrain such as stepped obstacles. This paper presents the design and testing of the PaTS-Wheel: a Passively-Transformable Single-part Wheel that can transform to render hooks when presented with obstacles. The passive rendering of this useful morphological feature is guided purely by the geometry of the obstacle. T. Godden, B. W.
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