DocumentCode
2108044
Title
PAW: a hybrid wheeled-leg robot
Author
Smith, James Andrew ; Sharf, Inna ; Trentini, Michael
Author_Institution
Centre for Intelligent Machines, McGill Univ., Montreal, Que.
fYear
2006
fDate
15-19 May 2006
Firstpage
4043
Lastpage
4048
Abstract
This paper discusses current wheeled mobility work on a hybrid wheeled-leg robot called PAW. In addition to providing design details, controllers are proposed for inclined turning and sprawled braking which take advantage of the hybrid nature of the platform and improve stability. Power consumption values for a number of its basic behaviours are given, as is the range of the robot
Keywords
braking; legged locomotion; stability; wheels; PAW; inclined turning; sprawled braking; stability; wheeled-leg robot; Control systems; Intelligent robots; Land vehicles; Leg; Legged locomotion; Medical robotics; Mobile robots; Plasma welding; Stability; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1050-4729
Print_ISBN
0-7803-9505-0
Type
conf
DOI
10.1109/ROBOT.2006.1642323
Filename
1642323
Link To Document