Design and Locomotion Modes of a Small Wheel- Legged Robot
نویسنده
چکیده
Legged robots have superior terrain adaptability comparing to traditional wheeled vehicles. They also offer attractive capabilities in terms of agility and obstacle avoidance. On the other hand, traditional wheeled platforms provide sufficient robustness, mechanical simplicity and energetic performance. They are fast, powerful in terms of load to weight ratio, stable, and easy to control. Hybrid locomotion systems were developed to exploit the terrain adaptability of legs in rough terrain and simpler control as well as high speed associated with wheels. In this paper the design and the locomotion modes of a small wheel-legged robot are presented.
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