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

Volume

3

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

2553

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1249254

Filename

1249254