In this paper the design and operation for a 2-Degree-of- Freedom, leg–wheel hybrid mobile robot are presented. A prototype of a low-cost and easy-to-use system, which is capable of straight walking and steering with two actuators only, has been designed and built. Simulation and experimental tests have been carried out to verify the engineering feasibility and operation of the proposed solution. The designed robot can be used for applications such as surveillance and inspection of disaster sites.

Design and operation of a 2DOF leg–wheel hybrid robot

Rea P.
2013-01-01

Abstract

In this paper the design and operation for a 2-Degree-of- Freedom, leg–wheel hybrid mobile robot are presented. A prototype of a low-cost and easy-to-use system, which is capable of straight walking and steering with two actuators only, has been designed and built. Simulation and experimental tests have been carried out to verify the engineering feasibility and operation of the proposed solution. The designed robot can be used for applications such as surveillance and inspection of disaster sites.
Walking robots
Hybrid mobile robots
Kinematics
Simulation
Experimental tests.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11584/318389
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