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

被引：20
|
作者：
Ottaviano, Erika [1 ]
Rea, Pierluigi [1 ]
机构：
[1] Univ Cassino & Southern Lazio, Dept Civil & Mech Engn, Cassino, Italy
来源：
ROBOTICA | 2013年 / 31卷
关键词：
Walking robots; Hybrid mobile robots; Kinematics; Simulation; Experimental tests; PROTOTYPE; MOTION;
D O I：
10.1017/S0263574713000556
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：1319 / 1325
页数：7
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