Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul

194 Chapter 6 Steering History
Figure 6-5a
steering
Differential
Figure 6-5b
vehicles use this method to steer, while older tracked vehicles would
brake a track on one side, slowing down only that track, which turned
the vehicle.
As discussed in the chapter on wheeled vehicles, this is also the steering
method used on some four-wheel loaders like the well-known
Bobcat. One motor drives the two wheels on one side of the vehicle, the
other drives the two wheels on the other side. This steering method is so
effective and robust that it is used on a large percentage of four-, six-, and
even eight-wheeled robots, and nearly all modern tracked vehicles
whether autonomous or not. This steering method produces a lot of skid-