Title :
A design of a new leg-wheel walking robot
Author :
Tavolieri, C. ; Ottaviano, E. ; Ceccarelli, M. ; Nardelli, A.
Author_Institution :
Univ. of Cassino, Cassino
Abstract :
In this paper the analysis and design are presented for a 1-DOF (degree-of-freedom) leg-wheel walking machine. A preliminary prototype of a low-cost robot, which is capable of a straight walking with only one actuator, has been designed and built at LARM: Laboratory of Robotics and Mechatronics in Cassino. Simulation and experimental validation have been carried out to verify the operation of the prototype.
Keywords :
legged locomotion; LARM; Laboratory of Robotics and Mechatronics; leg-wheel walking robot; low-cost robot; Actuators; Chebyshev approximation; Couplings; Kinematics; Leg; Legged locomotion; Mobile robots; Prototypes; Virtual prototyping; Wheels;
Conference_Titel :
Control & Automation, 2007. MED '07. Mediterranean Conference on
Conference_Location :
Athens
Print_ISBN :
978-1-4244-1282-2
Electronic_ISBN :
978-1-4244-1282-2
DOI :
10.1109/MED.2007.4433829
