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

Published online by Cambridge University Press:  07 June 2013

Erika Ottaviano  and
Pierluigi Rea
Erika Ottaviano*
Affiliation:
Department of Civil and Mechanical Engineering, University of Cassino and Southern Lazio, Cassino, Italy
Pierluigi Rea
Affiliation:
Department of Civil and Mechanical Engineering, University of Cassino and Southern Lazio, Cassino, Italy
*
*Corresponding author. E-mail: ottaviano@unicas.it/rea@unicas.it
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Summary

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.

Keywords

Walking robotsHybrid mobile robotsKinematicsSimulationExperimental tests
Type
Articles
Information
Robotica , Volume 31 , Issue 8 , December 2013 , pp. 1319 - 1325
Copyright
Copyright © Cambridge University Press 2013 

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