Title :
Design of a leg-wheel hybrid mobile platform
Author :
Shen, Shuan-Yu ; Li, Cheng-Hsin ; Cheng, Chih-Chung ; Lu, Jau-Ching ; Wang, Shao-Fan ; Lin, Pei-Chun
Author_Institution :
Dept. of Mech. Eng., Nat. Taiwan Univ., Taipei, Taiwan
Abstract :
We introduce the design of a leg-wheel hybrid platform Quattroped. Comparing to most hybrid platforms which have separate mechanisms of wheels and legs, this robot is implemented with a transformation mechanism which directly changes the morphology of wheels (i.e. a full circle) into 2 degree-of-freedom legs (i.e. combining two half-circles as a leg). The mechatronics, software infrastructure, and the initial experimental test of the robot are also reported.
Keywords :
legged locomotion; mechatronics; Quattroped; leg-wheel hybrid mobile platform; mechatronics; software infrastructure; transformation mechanism; Contracts; Foot; Intelligent robots; Leg; Legged locomotion; Mechatronics; Mobile robots; Morphology; USA Councils; Wheels;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5353958
