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This study examines the influence of adding different profile geometries on the rollability performance of a wheeled robot released from various heights under controlled conditions. Three profile configurations were parametrically designed, computationally modeled, and optimized using a physics-based simulation framework. The optimized designs were then 3D-printed and attached to a robot chassis and evaluated alongside a baseline configuration (no profile addition). Rollability success was defined as the chassis returning to a stable, on-the-wheels configuration after launch. Experiments were conducted across two drop heights (75 cm and 130 cm), two launch speeds (0.8 m/s and 1.5 m/s), and launch angles ranging from −60° to +60°. The results demonstrate strong sensitivity of rollability performance to geometric configuration. Two of the optimized profiles showed significant improvements compared to the baseline. The best-performing profile exhibited robust performance across varying heights, speeds, and angles, whereas the other profile showed substantial performance gains at higher speeds and drop heights. These findings confirm that appropriate geometric optimization of profile structures can substantially enhance rollability stability for wheeled robots under dynamic impact conditions.
Jabari et al. (Fri,) studied this question.