Title :
PAW: a hybrid wheeled-leg robot
Author :
Smith, James Andrew ; Sharf, Inna ; Trentini, Michael
Author_Institution :
Centre for Intelligent Machines, McGill Univ., Montreal, Que.
Abstract :
This paper discusses current wheeled mobility work on a hybrid wheeled-leg robot called PAW. In addition to providing design details, controllers are proposed for inclined turning and sprawled braking which take advantage of the hybrid nature of the platform and improve stability. Power consumption values for a number of its basic behaviours are given, as is the range of the robot
Keywords :
braking; legged locomotion; stability; wheels; PAW; inclined turning; sprawled braking; stability; wheeled-leg robot; Control systems; Intelligent robots; Land vehicles; Leg; Legged locomotion; Medical robotics; Mobile robots; Plasma welding; Stability; Wheels;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642323
