Design, Modeling, and Control of a Single Leg for a Legged-Wheeled Locomotion System with Non-Rigid Joint

This article presents an innovative legged-wheeled system, designed to be applied in a hybrid robotic vehicle’s locomotion as its driving member. The proposed system will capable combine the advantages of legged and wheeled systems, having 3DOF connected through combination both rigid non-rigid joints. configuration provides vehicle ability absorb impacts selected external disturbances. A state space approach was adopted control joints, increasing system’s stability adaptability. Throughout this article, entire design process presented, well modeling control. is biologically inspired, reference human leg, resulting development prototype. results testing with prototype are also presented. modular, low-cost, increase autonomy typical autonomous systems.