• DocumentCode
    852373
  • Title

    The wheeleg robot

  • Author

    Guccione, Salvatore ; Muscato, Giovanni

  • Author_Institution
    Dipt. Elettrico Elettronico e Sistemistico, Universita degli Studi di Catania, Italy
  • Volume
    10
  • Issue
    4
  • fYear
    2003
  • Firstpage
    33
  • Lastpage
    43
  • 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;
  • fLanguage
    English
  • Journal_Title
    Robotics & Automation Magazine, IEEE
  • Publisher
    ieee
  • ISSN
    1070-9932
  • Type

    jour

  • DOI
    10.1109/MRA.2003.1256296
  • Filename
    1256296
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=852373