Study on Roller-Walker — Improvement of Locomotive Efficiency of Quadruped Robots by Passive Wheels
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چکیده
منابع مشابه
Study on Roller-Walker - Improvement of Locomotive Efficiency of Quadruped Robots by Passive Wheels
Roller-Walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tip of each leg. The passive wheel can be transformed into sole mode by rotating the ankle roll joint when Roller-Walker walks on a rough terrain. This paper discusses energy efficiency of locomotion in wheeled mode. We define a leg trajectory to produce forward straight propulsion and discuss the relationshi...
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Roller-Walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tip of each leg. The passive wheel can be transformed into sole mode by rotating ankle roll joint when Roller-Walker walks on rough terrain. This paper discusses energy efficiency of locomotion in wheeled mode. We define a leg trajectory to produce forward straight propulsion and discuss the relationships bet...
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ژورنال
عنوان ژورنال: Advanced Robotics
سال: 2012
ISSN: 0169-1864,1568-5535
DOI: 10.1163/156855312x633066