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Design and operation of a 2-DOF leg–wheel hybrid robot

Published online by Cambridge University Press:  07 June 2013

Erika Ottaviano*
Affiliation:
Department of Civil and Mechanical Engineering, University of Cassino and Southern Lazio, Cassino, Italy
Pierluigi Rea
Affiliation:
Department of Civil and Mechanical Engineering, University of Cassino and Southern Lazio, Cassino, Italy
*
*Corresponding author. E-mail: [email protected]/[email protected]

Summary

In this paper the design and operation for a 2-Degree-of-Freedom, leg–wheel hybrid mobile robot are presented. A prototype of a low-cost and easy-to-use system, which is capable of straight walking and steering with two actuators only, has been designed and built. Simulation and experimental tests have been carried out to verify the engineering feasibility and operation of the proposed solution. The designed robot can be used for applications such as surveillance and inspection of disaster sites.

Type
Articles
Copyright
Copyright © Cambridge University Press 2013 

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