Title :
AZIMUT, a leg-track-wheel robot
Author :
Michaud, François ; Letourneau, Dominic ; Arsenault, Martin ; Bergeron, Yann ; Cadrin, Richard ; Gagnon, Frédéric ; Legault, Marc-Antoine ; Millette, Mathieu ; Paré, Jean-François ; Tremblay, Marie-Christine ; Lapage, P. ; Morin, Yan ; Bisson, Jonathan ;
Author_Institution :
Dept. of Electr. Eng. & Comput. Eng., Sherbrooke Univ., Que., Canada
Abstract :
AZIMUT is a mobile robotic platform that combines wheels, legs and tracks to move in three-dimensional environments. The robot is symmetrical and is made of four independent leg-track-wheel articulations. It can move with its articulations up, down or straight, or to move sideways without changing the robot´s orientation. To validate the concept, the first prototype developed measures 70.5 cm×70.5 cm with the articulations up. It has a body clearance of 8.4 cm to 40.6 cm depending on the position of the articulations. The design of the robot is highly modular, with distributed embedded systems to control the different components of the robot.
Keywords :
embedded systems; legged locomotion; mobile robots; position control; tracking; 70.5 cm; 8.4 to 40.6 cm; AZIMUT; articulations; distributed embedded systems; leg track wheel robot; mobile robotic platform; robot orientation; three-dimensional environments; Humans; Intelligent robots; Leg; Legged locomotion; Mobile computing; Mobile robots; Prototypes; Service robots; Software prototyping; Wheels;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249254
