Conceptual design of a quadruped wheel-legged robot for an autonomous terrestrial locomotion

Olivier, A. Kouame Yann; Biradar, Rajashekhar C.; Devanagavi, Geeta D.

doi:10.1109/icaecc54045.2022.9716642

Cited by 2 publications

(1 citation statement)

References 13 publications

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“…Mobile robots, classified according to their operational domains: ground (Unmanned Ground Vehicles, UGVs), aerial (Unmanned Aerial Vehicles, UAVs), aquatic—submersible (Autonomous Underwater Vehicles, AUVs), and surface-based (Unmanned Surface Vehicles, USVs) [ 8 ], have extended their applicability beyond traditional settings, adeptly adapting to intricate terrains and even modifying their morphology and locomotion to optimize efficiency [ 9 ]. The 1980s marked a turning point with the introduction of dynamic locomotion in robots, significantly advanced by research at Tokyo University and MIT’s LegLab [ 10 , 11 ]. The field further evolved with Honda’s P2 humanoid in the 1990s, demonstrating greater versatility and leading to broader commercial and research interest.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis and Application to Control Logic Development for RHex Robot Locomotion

Burzyński,

Pawłuszewicz,

Ambroziak

et al. 2024

Sensors

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This study explores the kinematic model of the popular RHex hexapod robots which have garnered considerable interest for their locomotion capabilities. We study the influence of tripod trajectory parameters on the RHex robot’s movement, aiming to craft a precise kinematic model that enhances walking mechanisms. This model serves as a cornerstone for refining robot control strategies, enabling tailored performance enhancements or specific motion patterns. Validation conducted on a bespoke test bed confirms the model’s efficacy in predicting spatial movements, albeit with minor deviations due to motor load variations and control system dynamics. In particular, the derived kinematic framework offers valuable insights for advancing control logic, particularly navigating in flat terrains, thereby broadening the RHex robot’s application spectrum.

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