A 2-D tread mechanism for hybridization in USAR robotics

Hybridization of robots has led to great leaps in capability, often with minimal additional complexity, and refers to a synergistic combination of different actuation modes within a single platform. Doing so extends the capabilities and task space of a robot by pooling together the strengths of the individual modes and results in a single platform that is greater than the sum of its parts. In this paper we present a novel 2-D tread mechanism capable of exerting motive forces in two orthogonal directions. Early exploration into hybridization of this mechanism includes a holonomic differential drive configuration as well as a holonomic tread/limb/serpentine hybrid robot. Some preliminary results of the tread mechanism performance are presented as well.