Title :
The wheeleg robot
Author :
Guccione, Salvatore ; Muscato, Giovanni
Author_Institution :
Dipt. Elettrico Elettronico e Sistemistico, Universita degli Studi di Catania, Italy
Abstract :
This article describes a hybrid wheeled/legged robot, called the Wheeleg robot. The Wheeleg robot consists of wheels and legs separated but always acting together to locomote the system. A detailed description of the Wheeleg robot from a mechanical and electrical point of view is provided. Some considerations concerning the computing architecture are made, and some experimental results obtained in the laboratory and on volcanic terrain are given.
Keywords :
legged locomotion; motion control; robot dynamics; Wheeleg robot; control architecture design; hybrid locomotion; mechanical structure; real outdoor applications; research prototype; systems reliability; Actuators; Computer architecture; Laboratories; Leg; Legged locomotion; Mobile robots; Payloads; Robot control; Robot sensing systems; Wheels;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2003.1256296
