Performance study of aided locomotion for an outdoor mobile robot with arms

A mobile robot in an exploration task has to be reactive and adaptive. In this way, a hybrid architecture based on cooperation was developed: the Zibana robot is composed of a mobile platform with two articulated arms. The locomotion is then based on coordinating arms and wheels. The goal of this paper is to present such aided locomotion method. Then, we evaluate the performances of that coordination to improve this kind of locomotion and obstacle clearing phase. For locomotion modes introduced, performance measures outline the interest of arms assistance in locomotion task.