NDLI: Experimental validation of a leg-wheel hybrid mobile robot Quattroped

Content Provider	IEEE Xplore Digital Library
Author	Ke Jung Huang Shen-Chiang Chen Ya Cheng Chou Shuan-Yu Shen Cheng-Hsin Li Pei-Chun Lin
Copyright Year	2011
Description	Author affiliation: Department of Mechanical Engineering, National Taiwan University (NTU), No.1 Roosevelt Rd. Sec.4, Taipei 106, Taiwan (Ke Jung Huang; Shen-Chiang Chen; Ya Cheng Chou; Shuan-Yu Shen; Cheng-Hsin Li; Pei-Chun Lin)
Abstract	This video submission presents the experimental validation and testing of a leg-wheel hybrid mobile robot Quattroped. By combining the smooth and efficient motion of wheels on the flat ground with the great mobility of legs on rough terrains, the design of the robot aims for agile and versatile yet efficient locomotion in both natural and artificial environments. Compared to most hybrid platforms, which have separate mechanisms of wheels and legs, this robot is implemented with a transformation mechanism that directly changes the morphology of wheels (i.e., a full circle) into half-circle legs, each with 2 active degrees-of-freedom (i.e., combining two half circles as a leg ). The experimental testing includes flat terrain driving and turning in the wheeled mode, leg-wheel mode switching, and step crossing, bar crossing, natural rough terrain walking, and stair climbing in the legged mode.
Starting Page	2976
Ending Page	2977
File Size	608909
Page Count	2
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980480
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Leg Robot kinematics Legged locomotion Wheels Conferences
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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Trajectory planning for stair climbing in the leg-wheel hybrid mobile robot quattroped

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