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2011 | OriginalPaper | Chapter

Mobile Robots

Authors : Ángel Gaspar González Rodríguez, Antonio González Rodríguez

Published in: Advanced Mechanics in Robotic Systems

Publisher: Springer London

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Abstract

This chapter presents an introduction to mobile robots in the field of the service robots, paying special attention to the mechanical structure of wheeled, legged, hybrid and tracked robots. The issues regarding to the maneuverability and capability of overcoming obstacles are discussed for the wheeled robots. A classification of the wheeled robots is made according to the way they are steered and driven, exposing the forward kinematics equations for every basic scheme. The common characteristics of hybrid and tracked robots are also presented, together with their advantages and drawbacks. A classification of legged robots is also included, focusing mainly on the structure of the leg and discussing relevant issues regarding controlability and efficiency.

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previous chapter Robotic Hands
next chapter Parallel Manipulators
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Metadata
Title
Mobile Robots
Authors
Ángel Gaspar González Rodríguez
Antonio González Rodríguez
Copyright Year
2011
Publisher
Springer London
Book
Advanced Mechanics in Robotic Systems

Print ISBN: 978-0-85729-587-3

Electronic ISBN: 978-0-85729-588-0

Copyright Year: 2011

DOI
https://doi.org/10.1007/978-0-85729-588-0_3